Dynamic Support Apparatus

ABSTRACT

A dynamic support apparatus. The dynamic support apparatus includes a cushion, at least one actuator wherein the at least one actuator defines an interior volume and wherein the interior volume may be configured to be at least partially filled with a fluid, and a support disposed in the interior volume wherein the support configured to support an occupant when the interior volume is not filled with the fluid such that the support is sufficient to support the occupant.

CROSS REFERENCE TO RELATED APPLICATION(S)

This application claims priority to and the benefit of the following:U.S. Provisional Application No. 62/029,813, filed on Jul. 28, 2014 andentitled Dynamic Support Apparatus (Attorney Docket No. L27); and U.S.Provisional Application No. 62/029,826, filed on Jul. 28, 2014 andentitled Rotary Valve (Attorney Docket No. M68), both of which arehereby incorporated herein by reference in their entirety.

TECHNICAL FIELD

The present disclosure relates to supporting a load. More specifically,the present disclosure relates to dynamically supporting a load.

BACKGROUND

Decubitus ulcers or pressure sores are areas of damaged soft tissuecaused by staying in a single position for a prolonged period of time.They often develop where bones within the body are close to the skin andpressure, or pressure in combination with shear and/or friction, ishigh. When sufficiently high, these contact forces inhibit blood flow tothe contact area. Over time, this obstructed or partially obstructedblood flow can lead to pain, ulceration, osteomyelitis, local infection,and in extreme cases sepsis or death. Other factors, such asmalnutrition, skin wetness, and conditions which reduce blood flow orsensation may also play a role.

Compounded on top of this, pressure sore treatment can prove to be veryexpensive. The average cost associated with a pressure ulcer in theUnited States was reported to be $48,000 in 2006. This accounts forapproximately an 11 billion dollar annual expenditure on pressure ulcertreatment. The severest of pressure sores, categorized as stage IVpressure ulcers, can be even more costly. One study estimated theaverage cost of such an ulcer to be on average $127,185. Risk ofre-injury is also quite high after a previously developed pressure sorehas healed or in the process of healing.

Decubitus ulcers are particularly common among populations which havelimited mobility. Specifically, according to one study, nearly 40% ofthose with spinal cord injuries develop pressure ulcers. The trueoccurrence of pressure ulceration is, however, likely higher becausepressure ulcers may be seen as signs of negligent care and are thereforeunder reported. Additionally, various studies have attributed about 5%of deaths of paraplegics and quadriplegics to complications frompressure sores.

Some methods and strategies for preventing pressure ulcers do exist.Traditional methods of mitigating the risk of pressure soresunfortunately tend to be demanding and disruptive. Generally,traditional methods involve manual repositioning of an individual. Thismay not be an option for populations with limited or impaired mobility.Another approach for mitigating pressure sore risk is through the use ofpassive seat cushions which attempt to more evenly distribute pressureacross the contacted area of a supported person. Such seat cushions,however, are often still not adequate to prevent pressure sores on theirown. Consequentially, such systems may, for example, require a supportedperson to tilt or recline their seat at predefined intervals to relievepressure. As such, they are still relatively disruptive. Active cushionsalso exist which mechanically or pneumatically redistribute or relievepressure from a desired area. Such cushions are also not without anumber of shortcomings. Among these shortcomings, many such pneumaticcushions include interconnected bladders. If one such bladder iscompromised, all of the interconnected bladders are compromised as well,and consequentially a person is left uncushioned. In the example of awheelchair, this may lead to a person being supported only by the hardseat pan which can be injurious to the person, especially as they rideover bumps and are jostled about. The bladders of such seat cushions arenot easy or cost effective to replace. These systems also tend to bebulky and may rely on a mobile source of power with limited life.

SUMMARY

In accordance with an embodiment of the present disclosure, a dynamicsupport apparatus is disclosed. The dynamic support apparatus includes acushion, at least one actuator wherein the at least one actuator definesan interior volume and wherein the interior volume may be configured tobe at least partially filled with a fluid, and a support disposed in theinterior volume wherein the support configured to support an occupantwhen the interior volume is not filled with fluid sufficient to supportthe occupant.

Some embodiments of this implementation include one or more of thefollowing. Wherein the support is a foam support. Wherein the supportincludes a plurality of foam strata. Wherein each of the plurality ofstrata includes foam with a different indentation force deflectionvalue. Wherein the plurality of strata configured wherein they haveprogressively increasing indentation force deflection values. Whereinthe at least one actuator comprising a clamshell. Wherein the actuatorincludes a first face and an opposing bottom second face connected by aplurality of sides and the actuator includes a seam on at least one ofthe plurality of sides. Wherein the seam is located substantially at amidpoint between the first face and the second face. Wherein the atleast one actuator is constructed of polyurethane. Wherein the dynamicsupport apparatus comprising two actuators. Wherein the dynamic supportapparatus comprising a first actuator and second actuator separated by adivider. Wherein the cushion comprising a void adjacent the twoactuators. Wherein the void is disposed along a plane of the divider.Wherein the at least one actuator comprising pleated walls. Wherein theat least one actuator comprising a baffle attached to an interior firstface of the at least one actuator and an opposing interior second faceof the at least one actuator. Wherein the at least one actuator includesa pressure relief valve. Wherein the at least one actuator includes afirst side and opposing second side connected by a side wall, whereinthe first side is thicker than the side wall.

In accordance with an embodiment of the present disclosure, a dynamicsupport is disclosed. The dynamic support apparatus includes a cushion,at least one actuator wherein the at least one actuator defines aninterior volume and wherein the interior volume may be configured to beat least partially filled with a fluid and the at least one actuatorincludes an orifice in a wall of the at least one actuator, and a sensorassembly, the sensor assembly including a housing portion in which asensor is disposed, and a plug portion, wherein the housing portiondisposed within the interior of the at least one actuator and whereinthe plug portion is coupled to the housing portion through the orificewhereby an airtight seal is formed.

Some embodiments of this implementation include one or more of thefollowing. Wherein the housing includes a housing flange and the plugportion comprising a plug flange and wherein when the housing and plugportion are coupled together the wall of the actuator is compressedbetween the housing flange and plug flange. Wherein at least one of thehousing flange and plug flange comprising a channel, the channel sizedfor an o-ring to be seated therein.

Wherein one of the housing and plug portion includes a groove and theother of the housing and plug portion includes a protuberance configuredto pressure the wall of the at least one actuator into the groove.Wherein the sensor is a pressure sensor. Wherein the housing and plugportion are coupled together via a threaded coupling. Wherein the sensoris configured to sense the distance from a face of the at least oneactuator to the sensor.

In accordance with an embodiment of the present disclosure, a dynamicsupport apparatus is discloses. The dynamic support apparatus includes acushion, at least one actuator wherein the at least one actuator definesan interior volume and wherein the interior volume may be configured tobe at least partially filled with a fluid, and a manifold including aplurality of fluid pathways leading to a manifold port for each of theat least one actuators, and at least one valve, at least one sensor foreach manifold port, a pump in fluid communication with the manifold, anda controller comprising a processor, the processor configured to monitordata samples from the at least one sensor and determine a pulse densitymodulation command for the pump based at least in part on the datasamples from the at least one sensor for each of the at least oneactuators, wherein the processor determines the pulse density modulationcommand by starting a pulse timer during a first pulse, computing apulse time interval for each data sample, and commanding the pump topump fluid when the pulse timer time is less than or equal to the pulsetime interval.

Some embodiments of this implementation include one or more of thefollowing. Wherein the at least one sensor is a pressure sensor. Whereinthe at least one actuator includes an internal support for supporting aload when the interior volume is not filled with fluid sufficient tosupport the load. Wherein the data samples are subjected to a low passfilter. Wherein the data samples are subjected to a low pass filterhaving a band width of less than or equal to 0.1 Hz. Wherein theprocessor computing the pulse time interval comprises determining anerror value based on a predetermined set point range and the datasamples. Wherein the processor computing the pulse time intervalcomprises determining if the error value is above a predeterminedmaximum allowable error value and setting the pulse time interval to apredetermined minimum time value if the error value is above the maximumallowable error value. Wherein the processor computing the pulse timeinterval comprises increasing the pulse time interval as the error valuedecreases. Wherein if the error value is negative, the processorcommands one of the at least one actuator to be vented. Wherein if theerror value is negative, the processor suspends pumping of fluid untilthe error value is positive. Wherein if the error value is negative, theprocessor sets the pulse time interval to a predetermined maximum timevalue. Wherein if the predetermined set point range is a negativepressure range and the error value is negative, the processor sets thepulse time interval to a predetermined maximum time value. Wherein ifthe predetermined set point range is a positive pressure range and theerror value is negative, the processor suspends pumping of fluid untilthe error value becomes positive.

In accordance with an embodiment of the present disclosure, a dynamicsupport apparatus is disclosed. The dynamic support apparatus includesat least one actuator wherein the at least one actuator defines aninterior volume and wherein the interior volume may be configured to beat least partially filled with a fluid, a fluid pump, a manifold influid communication with the fluid pump, the manifold having at leastone fluid flow path, at least one flow path valve associated with eachof the at least one fluid flow paths, the manifold comprising a manifoldport for each of the at least one actuators, a pressure sensorconfigured to monitor pressure at each of the manifold ports andgenerate pressure data signals, a processor, the processor configuredto: generate a pump command causing the pump to pump fluid; generate amanifold command governing the position of the at least one valve suchthat fluid communication is established between the fluid pump and adesired manifold port connected to a desired actuator of the at leastone actuator; monitor the pressure data signals to determine if thepressure at the desired manifold port is above an over inflation targetpressure; generate, upon determination that the pressure is above theover inflation pressure target, a deflation command governing theposition of the at least one valve in the manifold wherein the desiredmanifold port is in fluid communication with atmosphere; and monitor thepressure data signals while the desired manifold port is incommunication with the atmosphere to determine if the pressure at thedesired manifold port is within a range of a target pressure.

Some embodiments of this implementation include one or more of thefollowing. Wherein the over inflation target pressure is equal to a sumof the target pressure, plus an overshoot margin, plus an additionalmargin. Wherein the addition margin is in the range of 2 mmHg-4 mmHg.Wherein the processor is further configured to start a minimum on-timetimer upon generation of the pump command and the processor isconfigured to prevent stopping of pumping until the minimum on-timetimer reaches a predetermined minimum on-time value.

Wherein the minimum on-time value is 0.5 seconds. Wherein the processoris further configured to start a wait timer upon determining thepressure is above the over inflation target pressure and after apredetermined wait period has elapsed, the processor is configured tocollect a post wait pressure data sample from the pressure sensor.Wherein the processor is further configured to compare the post waitpressure data sample to a sum of the target pressure plus the overshootmargin. Wherein the processor is further configured to generate are-inflation command if the post wait pressure data sample indicates thepressure is less than the target pressure plus the overshoot margin.Wherein the processor is further configured to collect a vented pressuredata sample after generation of the deflation command and compare thevented pressure data sample to a sum of the target pressure, plus a deadband pressure range, less the additional margin. Wherein the processoris further configured to start a post-vent wait timer if the ventedpressure sample is less than or equal to the target pressure, plus adead band pressure range, less the additional margin. Wherein the methodfurther comprising generating a second deflation command with theprocessor if the pressure is greater than a sum of target pressure plusthe deadband pressure range after a post-vent wait period has elapsed,the second deflation command governing the position of the at least onevalve in the manifold wherein the desired manifold port is in fluidcommunication with atmosphere. Wherein the processor determining thepressure is within the target pressure range comprising comparing apost-vent wait period pressure data sample taken after the post-ventwait period has elapsed to a first pressure threshold and a secondpressure threshold lower than the first pressure threshold anddetermining the pressure is within the target pressure range if the apost-vent wait period pressure data sample indicates the pressure isbelow the first threshold, but above the second threshold.

In accordance with an embodiment of the present disclosure, a method forinflating an actuator of a dynamic support apparatus is disclosed. Themethod includes generating, with a processor, a pump command, the pumpcommand causing a pump to pump fluid; generating, with the processor, amanifold command, the manifold command governing the position of atleast one valve in a manifold such that fluid communication isestablished between the pump and a manifold port connected to theactuator; monitoring pressure data samples from a sensor at the manifoldport with the processor; determining the pressure is above an overinflation target pressure; generating, with the processor, a deflationcommand, the deflation command governing the position of the at leastone valve in the manifold wherein the manifold port connected to theactuator is in fluid communication with the atmosphere; monitoringpressure data samples from a sensor at the manifold port with theprocessor while the manifold port connected to the actuator is in fluidcommunication with the atmosphere; and determining the pressure iswithin a range of a target pressure.

Some embodiments of this implementation include one or more of thefollowing. Wherein the over inflation target pressure is equal to a sumof the target pressure, plus an overshoot margin, plus an additionalmargin. Wherein the addition margin is in the range of 2 mmHg-4 mmHg.Wherein the method further comprising: starting, with the processor, aminimum on-time timer upon generation of the pump command; andpreventing stopping of pumping until the minimum on-time timer reaches apredetermined minimum on-time value.

Wherein the minimum on-time value is 0.5 seconds. Wherein the methodfurther comprising: starting, with the processor, a wait timer upondetermining the pressure is above the over inflation target pressure;and after a predetermined wait period has elapsed, collecting a postwait pressure data sample from the pressure sensor. Wherein the methodfurther comprising comparing the post wait pressure data sample to a sumof the target pressure plus the overshoot margin. Wherein the methodfurther comprising generating a re-inflation command if the post waitpressure data sample indicates the pressure is less than the targetpressure plus the overshoot margin. Wherein the method furthercomprising: collecting a vented pressure data sample after generation ofthe deflation command; and comparing the vented pressure data sample toa sum of the target pressure, plus a dead band pressure range, less theadditional margin. Wherein the method further comprising starting apost-vent wait timer if the vented pressure sample is less than or equalto a sum of the target pressure and a dead band pressure range, less theadditional margin. Wherein the method further comprising generating asecond deflation command with the processor if the pressure is greaterthan a sum of the target pressure plus the deadband pressure range aftera post-vent wait period has elapsed, the second deflation commandgoverning the position of the at least one valve in the manifold suchthe manifold port connected to the actuator is in fluid communicationwith the atmosphere. Wherein determining the pressure is within thetarget pressure range comprising: comparing a post-vent wait periodpressure data sample taken after the post-vent wait period has elapsedto a first pressure threshold and a second pressure threshold lower thanthe first pressure threshold; and determining the pressure is within thetarget pressure range if the a post-vent wait period pressure datasample indicates the pressure is below the first threshold, but abovethe second threshold.

In accordance with an embodiment of the present disclosure, a method formaintaining the pressure of an actuator of a dynamic support apparatusis disclosed. The method includes monitoring, with a processor, pressuredata samples from at least one sensor associated with a manifold port ofa manifold, the manifold port connected to the actuator; anddetermining, with the processor, a pulse density modulation command fora pump in communication with the manifold, the pulse density modulationcommand determined by starting a pulse timer during a first pump pulse,computing a pulse time interval for each data sample, and commanding thepump to pump fluid when the pulse time is less than or equal to thepulse time interval.

Some embodiments of this implementation include one or more of thefollowing. Wherein the actuator includes an internal support forsupporting a load when an interior volume of the actuator is not filledwith fluid sufficient to support the load. Wherein the method furthercomprising subjecting the data samples to a low pass filter. Wherein themethod further comprising subjecting the data samples to a low passfilter having a band width of less than or equal to 0.1 Hz. Whereincomputing the pulse time interval comprising determining an error valuebased on a predetermined set point range and the data samples. Whereincomputing the pulse time interval comprising: determining if the errorvalue is above a predetermined maximum allowable error value; andsetting the pulse time interval to a predetermined minimum time value ifthe error value is above the maximum allowable error value. Whereincomputing the pulse time interval comprising increasing the pulse timeinterval as the error value decreases.

Wherein the method further comprising commanding the actuator to bevented. Wherein the method further comprising suspending pumping offluid if the error value is negative until the error value becomespositive. Wherein the method further comprising setting the pulse timeinterval to a predetermined maximum time value if the error value isnegative. Wherein the method further comprising setting the pulse timeinterval to a predetermined maximum value if the predetermined set pointrange is a negative pressure range and the error value is negative.

Wherein the method further comprising suspending pumping of fluid if thepredetermined set point range is a positive pressure range and the errorvalue is negative until the error value becomes positive.

In accordance with an embodiment of the present disclosure, a dynamicsupport apparatus is disclosed. The dynamic support apparatus includes acushion; at least one actuator wherein the at least one actuator definesan interior volume and wherein the interior volume configured to be atleast partially filled with a fluid and the at least one actuatorattached to an actuator fluid conduit in communication with the interiorvolume; a fluid pump having a pump inlet and a pump outlet; a rotaryvalve including a stationary portion and a rotor, the rotor being aplanar body having transversely disposed flow paths recessed into eachof a first face and a second face of the rotor, wherein the first faceis opposingly situated with respect to the second face, the flow pathsterminating in valve fluid ports; and a processor for commanding a motorto rotate the rotor to at least a first position in which the pump inletis in fluid communication with the atmosphere through the valve and thepump outlet is in fluid communication with the actuator fluid conduitthrough the valve, a second position in which the pump inlet is incommunication with the actuator fluid conduit via the valve and the pumpoutlet is in communication with the atmosphere via the valve, and athird position in which the actuator fluid conduit is in communicationwith the atmosphere via the valve.

Some embodiments of this implementation include one or more of thefollowing. Wherein the first, second, and third positions are spacedequal angular intervals apart. Wherein the motor drives the rotor in asingle direction to align the rotor in the first position, secondposition, and third position. Wherein the motor drives the rotor in afirst direction to align the rotor first with the first position, themotor drives the rotor in the first direction to rotate the rotor fromthe first position to the second position, and the motor rotates therotor in the first direction to rotate the rotor from the secondposition to the third position. Wherein the motor may rotate the rotorclockwise to the first position, the second position, and the thirdposition, and wherein the motor may rotate the rotor counterclockwise tothe first position, the second position, and the third position. Whereinthe rotary valve is a multi-stable valve which maintains its positionwhen power to the rotary valve is lost. Wherein the motor is a steppermotor. Wherein the rotary valve is part of a manifold. Wherein an outeredge of the rotor is teethed. Wherein the processor is configured torotate the valve in equal angular increments. Wherein the rotor includeseight fluid ports. Wherein the rotor is held between a first part of thestationary portion and a second part of the stationary portion. Whereinat least one of the first and second face include a recessed portionwhich does not contact the stationary portion. Wherein the stationaryportion includes a valve interface.

In accordance with an embodiment of the present disclosure, amulti-stable rotary valve is disclosed. The rotary valve includes astationary portion including a pump inlet port, a pump outlet port, anatmosphere port, and an actuator port; a rotor having a planar body withtransversely disposed flow paths recessed into each of q first face anda second face of the rotor, wherein the second face is opposinglysituated with respect to the first face, the rotor captured between afirst part of the stationary portion and a second part of the stationaryportion, the rotor having at least one recessed portion which does notcontact the stationary portion; and a motor arranged to impart rotarymotion to the rotor to rotate the rotor to at least a first position inwhich the pump inlet port is in fluid communication with the atmosphereport through the valve and the pump outlet port is in fluidcommunication with the actuator port through the valve, a secondposition in which the pump inlet port is in communication with theactuator port via the valve and the pump outlet port is in communicationwith the atmosphere port via the valve, and a third position in whichthe actuator port is in communication with the atmosphere port via thevalve.

Some embodiments of this implementation include one or more of thefollowing. Wherein an outer edge of the motor is teethed. Wherein themotor is a stepper motor. Wherein a fastener extend through the firstpart of the stationary portion and through the rotor to the second partof the stationary portion such that the rotor is held between the firstpart and second part of the stationary portion. Wherein the rotorincludes four fluid pathways. Wherein the first face of the rotorincludes a plurality of fluid pathways and the second face of the rotorincludes a single fluid pathway. Wherein the first face of the rotorincludes three fluid pathways and the second face of the rotor includesa single fluid path way. Wherein the motor is arranged to impart rotarymotion to the rotor in only a single rotational direction. Wherein therotary valve is a pneumatic valve. Wherein the rotor comprising aplurality of flow paths on the first face and at least one flow path onthe second face extending in a direction perpendicular to at least oneof the plurality of flow paths on the first face. Wherein the rotorcomprising: at least one flow path on the first face; at least one flowpath on the second face; and two pass throughs extending from the firstface to the second face for each of the at least one flow path on thesecond face, wherein the pass throughs being in fluid communication withan associated flow path of the at least one flow path on the secondface.

In accordance with an embodiment of the present disclosure, a dynamicsupport apparatus is disclosed. The dynamic support apparatus includes acushion; at least one actuator wherein the at least one actuator definesan interior volume and wherein the interior volume may be configured tobe at least partially filled with a fluid; and a support disposed in theinterior volume wherein the support configured to support an occupantwhen the interior volume is not filled with the fluid such that thesupport is sufficient to support the occupant.

In accordance with an embodiment of the present disclosure, a dynamicsupport apparatus may comprise a cushion. The dynamic support apparatusmay comprise at least one actuator. The at least one actuator may definean interior volume. The interior volume may be configured to be at leastpartially filled with a fluid such that said fluid is sufficient tosupport an occupant. The dynamic support apparatus may comprise asupport disposed in the interior volume. The support may be configuredto support said occupant when the interior volume is not filled withsaid fluid such that said support is sufficient to support saidoccupant.

In accordance with another embodiment of the present disclosure, adynamic support apparatus may comprise a cushion. The dynamic supportapparatus may comprise at least one actuator. The at least one actuatormay have an interior volume. The interior volume may be configured to beat least partially filled with a fluid such that said fluid issufficient to support an occupant. The dynamic support apparatus maycomprise a stratified foam support disposed in the interior volume. Thestrata of said stratified foam support may be defined by foams ofdiffering support characteristics. The support characteristics may beindentation load deflections. The stratified foam support may have atotal volume less than that of the interior volume. The stratified foamsupport may be configured to support the occupant when said interiorvolume is not filled with said fluid such that said fluid is sufficientto support said occupant.

In accordance with another embodiment of the present disclosure adynamic support apparatus may comprise a cushion. The dynamic supportapparatus may comprise at least one actuator. The at least one actuatormay define an interior volume. The interior volume may be configured tobe at least partially filled with a fluid such that said fluid issufficient to support an occupant. The dynamic support apparatus maycomprise a foam support inside said interior volume. The foam supportmay have a volume less than that of the interior volume. The foamsupport may be configured to support the occupant when said interiorvolume is not filled with said fluid such that said fluid is sufficientto support said occupant. The dynamic support apparatus may comprise abaffle disposed inside said interior volume. The baffle may beconfigured to constrain the shape of said actuator in at least onedirection.

In accordance with an embodiment of the present disclosure; a dynamicsupport apparatus may comprise a cushion. The cushion may be a foamcushion. The dynamic support apparatus may comprise at least onebladder. The at least one bladder may be disposed in at least one voidin said cushion. The at least one bladder may have an interior volume.The interior volume may be configured to be at least partially filledwith fluid such that said fluid is sufficient to support an occupant.The dynamic support apparatus may comprise a stratified foam support inthe interior volume. The strata of the stratified foam support may bedefined by foams of differing indentation force deflections. Thestratified foam support may have a volume less than that of the interiorvolume. The stratified foam support may be configured to support theoccupant when said interior volume is not filled with said fluid suchthat said fluid is sufficient to support said occupant. The dynamicsupport apparatus may comprise a baffle disposed inside the interiorvolume. The baffle may be configured to constrain the shape of said atleast one bladder in at least one direction. The dynamic supportapparatus may comprise at least one sensor. The sensor may be configuredto measure at least one characteristic of said fluid.

In accordance with an embodiment of the present disclosure, a method ofconstructing an actuator for a dynamic support apparatus for an occupantmay comprise coupling at least two pieces of material together to formsaid actuator such that said at least two pieces of material define aninterior volume. The two pieces of material may also be coupled togethersuch that the surface of the actuator proximal to a contact surface forthe occupant is free of seams which create a surface discontinuity inthe contact surface. The method may also comprise providing a foamsupport disposed inside said interior volume. The foam support may havea volume less than said interior volume. The foam support may bestratified. The strata of the foam support may each be a foam withdifferent support characteristics. The support characteristics may beindentation load deflection values.

The details of one or more embodiments are set forth in the accompanyingdrawings and the description below. Other features and advantages willbecome apparent from the description, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other aspects will become more apparent from the followingdetailed description of the various embodiments of the presentdisclosure with reference to the drawings wherein:

FIG. 1 shows a perspective, representational view of one embodiment of aperson support apparatus with the top cover of the person supportapparatus pulled away to expose the interior of the person supportapparatus in accordance with an embodiment;

FIG. 2 shows a perspective view of one embodiment of a dynamic supportapparatus with the top cover of the dynamic support apparatus pulledaway to expose the interior of the dynamic support apparatus;

FIG. 3 shows a perspective view of an actuator in accordance with oneembodiment;

FIG. 4 shows a partial side view of an actuator including asupplementary support in accordance with an embodiment;

FIG. 5 shows a partial side view of an actuator in accordance with anembodiment;

FIG. 6 shows a partial side view of a seam of an actuator in accordancewith one embodiment;

FIG. 7 shows a partial side view of a seam of an actuator in accordancewith one embodiment;

FIG. 8 shows a partial side view of a seam of an actuator in accordancewith one embodiment;

FIG. 9 shows a partial side view of a seam of an actuator in accordancewith one embodiment;

FIGS. 9A-9B show views of an actuator having two halves which may beformed in the same piece of material as a clamshell;

FIG. 10 shows a partial side view of a seam of an actuator in accordancewith one embodiment;

FIG. 11 shows a partial side view of a seam of an actuator in accordancewith one embodiment;

FIG. 12 shows a perspective view of an actuator including a baffle inaccordance with one embodiment;

FIG. 13 shows a cross sectional view of an actuator including a baffletaken at 10-10 of FIG. 12 in accordance with one embodiment;

FIG. 14 shows a close up view of a fluid port in accordance with oneembodiment;

FIG. 15 shows a side view of two actuators including fluid ports andactuator channels in accordance with one embodiment;

FIG. 16 shows a cutaway view of an actuator including a stoma and anexploded sensor assembly in accordance with one embodiment;

FIG. 17 shows a cross sectional view of a sensor assembly in accordancewith one embodiment;

FIG. 18 shows a cross sectional view of a sensor assembly including anO-ring seal in accordance with one embodiment;

FIG. 19 shows a cross sectional view of a sensor assembly including agroove seal in accordance with one embodiment;

FIG. 20 shows a side view of an actuator with a sensor in accordancewith one embodiment;

FIG. 21 shows a side view of an actuator with a sensor in accordancewith one embodiment of the present disclosure;

FIG. 22 shows a side view of an actuator including a baffle and a sensorin accordance with one embodiment;

FIG. 23 shows a side view of an actuator including a baffle and a sensorin accordance with one embodiment;

FIG. 24 shows a side view of an actuator and a sensor in accordance withone embodiment;

FIG. 25 shows a block diagram of a person support apparatus inaccordance with one embodiment;

FIG. 26 shows a front view of an embodiment of a housing including anon-board interface and a detachable interface in accordance with oneembodiment;

FIG. 27 shows and exploded view of an example detachable interface inaccordance with an embodiment of the present disclosure;

FIG. 28 depicts a perspective view of a controller in accordance withone embodiment;

FIG. 29 depicts a perspective view of a number of components which maybe included in a controller in accordance with one embodiment;

FIG. 30 depicts a representational exploded view of an example manifoldand PCB in accordance with an embodiment of the present disclosure;

FIG. 31 depicts a representational assembled view of the examplemanifold and PCB shown in FIG. 30 in accordance with an embodiment ofthe present disclosure;

FIG. 32 depicts a view of a manifold in which various fluid pathways ofthe manifold are shown in accordance with one embodiment;

FIG. 33 depicts a view of a manifold in which various fluid pathways ofthe manifold are shown in accordance with one embodiment;

FIG. 34 shows an example pneumatic diagram of an example dynamic supportapparatus in accordance with an embodiment of the present disclosure;

FIG. 35 depicts a pneumatic diagram of a pneumatic system including asingle pump capable of delivering fluid from a reservoir to adestination in accordance with one embodiment;

FIG. 36 depicts a pneumatic diagram of a pneumatic system including asingle pump capable of delivering fluid from a reservoir to adestination in accordance with one embodiment;

FIG. 37 depicts a pneumatic diagram configured such that the flow pathsin communication with the inlet and outlet of the pump may be swapped inaccordance with one embodiment;

FIG. 38 depicts a pneumatic diagram in which a bypass valve is includedin accordance with one embodiment;

FIG. 39 depicts a pneumatic diagram including a rotary valve inaccordance with one embodiment;

FIG. 40 depicts a pneumatic diagram including a rotary valve inaccordance with one embodiment;

FIG. 41 depicts a pneumatic diagram including a rotary valve inaccordance with one embodiment;

FIG. 42 depicts a pneumatic diagram including a rotary valve inaccordance with one embodiment;

FIG. 43 depicts a pneumatic diagram including a rotary valve inaccordance with one embodiment;

FIG. 44 depicts an exploded view of one embodiment of a rotary valveassembly;

FIG. 45 depicts a perspective view of one embodiment of rotor of arotary valve assembly;

FIG. 46 depicts a top-down view of one embodiment of a rotor of a rotaryvalve assembly;

FIG. 47 depicts one embodiment of an arrangement for imparting rotarymotion to a rotor of a rotary valve assembly;

FIG. 48 depicts a perspective view of one embodiment of a valveinterface;

FIG. 49 depicts a top-down view of one embodiment of a valve interface;

FIG. 50 depicts a top-down view of one example embodiment of a rotaryvalve and valve interface;

FIG. 51 depicts a cross-sectional view of an embodiment of a rotaryvalve and valve interface taken at line A-A of FIG. 50;

FIG. 52 depicts a top-down view of one embodiment of a rotary valve andvalve interface;

FIG. 53 shows a chart of isopleth maps detailing the contact pressure ofa buttock against a person support apparatus in accordance with oneembodiment;

FIG. 54 depicts a flowchart detailing a number of steps which may beused to actuate actuators of a dynamic support apparatus in a pressurerelief mode or pattern in accordance with one embodiment;

FIG. 55 depicts a flowchart detailing a number of example steps whichmay be used to actuate actuators of a dynamic support apparatus in apressure relief mode or pattern in accordance with one embodiment;

FIG. 56 depicts a flowchart detailing a number of steps which may beused to begin a relief regimen upon a determination that a dynamicsupport apparatus is occupied in accordance with one embodiment;

FIG. 57 depicts a flowchart detailing a number of steps which may beused to power down a dynamic support apparatus upon a determination thata dynamic support apparatus is no longer occupied in accordance with oneembodiment;

FIG. 58 depicts a flowchart detailing a number of example steps whichmay be used to enter a transfer mode using a dynamic support apparatusin accordance with one embodiment;

FIG. 59 depicts a flowchart detailing a number of steps which may beused to detect a dynamic loading condition and enter a dynamic loadingmode in a dynamic support apparatus in accordance with one embodiment;

FIG. 60 depicts a flowchart detailing a number of steps which may beused to pause a dynamic support apparatus in accordance with oneembodiment;

FIG. 61 depicts a remote interface which may be used to control and orconfigure a dynamic support apparatus in accordance with one embodiment;

FIG. 62 depicts a remote interface which may be used to control and orconfigure a dynamic support apparatus in accordance with one embodiment;

FIG. 63 depicts a remote interface which may be used to control and orconfigure a dynamic support apparatus in accordance with one embodiment;

FIG. 64 depicts a remote interface which is in wireless communicationwith a dynamic support apparatus in accordance with one embodiment;

FIG. 65 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 66 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 67 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 68 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 69 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 70 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 71 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 72 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 73 depicts a graph which may be displayed on a user interface for adynamic support apparatus in accordance with one embodiment;

FIG. 74 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 75 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 76 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 77 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment of thepresent disclosure;

FIG. 78 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 79 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 80 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment;

FIG. 81 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment; and

FIG. 82 depicts a screen which may be displayed on a remote interfacefor a dynamic support apparatus in accordance with one embodiment.

FIG. 83A depicts a flowchart which details a number of example stepsthat may be used to deflate an actuator based on a pressure set point;

FIG. 83B depicts an example pressure over time plot depicting pressuresamples from a pressure sensor monitoring pressure at a manifold portleading to an actuator;

FIG. 84 depicts a flowchart which details a number of example steps thatmay be used to inflate an actuator based on a pressure set point;

FIGS. 85A-85B depict a flowchart which details a number of example stepsthat may be used to inflate an actuator based on a pressure set point;

FIG. 85C depicts an example pressure over time plot depicting pressuresamples from a pressure sensor monitoring pressure at a manifold portleading to an actuator;

FIG. 86 depicts a flowchart detailing a number of example steps whichmay be used to detect an error or fault condition when pumping fluid toor from an actuator;

FIG. 87 depicts a flowchart detailing a number of example steps whichmay be used to detect an error or fault condition when monitoring thepressure of an actuator;

FIG. 88 depicts a flowchart detail a number of example steps which maybe used to detected an occlusion in a fluid line extending from amanifold port to an actuator of a dynamic support apparatus;

FIG. 89 depicts a flow diagram of one embodiment of the methods formaintaining the baseline pressure of the one or more actuators;

FIG. 90 depicts a schematic view of an embodiment for a leak detectioncontrol mode; and

FIG. 91 depicts a schematic view of another embodiment for the leakdetection mode;

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

FIG. 1 shows a perspective view of one embodiment of a dynamic supportapparatus 10 with the top cover 12 of the dynamic support apparatus 10pulled away to expose the interior of the dynamic support apparatus 10.The dynamic support apparatus 10 may be a person support apparatusutilized to provide support with more uniform pressure distribution andgreater comfort to a seated or supine individual. For example, thedynamic support apparatus 10 may be or may be placed on a person supportstructure such as a chair, couch, bench, automotive seat, aircraft seat,bed, wheelchair or the like. The dynamic support apparatus 10 may alsobe used to help prevent the formation of decubitus ulcers or pressuresores and speed the recovery thereof.

Though the shown dynamic support apparatus 10 has a roughly squarefootprint, the dynamic support apparatus 10 may have any suitablefootprint. In some embodiments, the dynamic support apparatus 10 may beroughly rectangular in embodiments where the dynamic support apparatus10 is a bed. In one embodiment shown in FIG. 1 the dynamic supportapparatus 10 is sized to be used as the support surface of a wheelchair.Additionally, the contact face or surface of the dynamic supportapparatus 10 may be substantially planar as shown or may be contoured.

In various embodiments, the dynamic support apparatus 10 may include acushion or a number of cushions. One of the cushions may be a foamcushion 14. The foam cushion 14 may be made of any suitable type ortypes of foam. In other embodiments, the foam cushion 14 need notnecessarily be made of foam. In some embodiments the foam cushion 14 mayalternatively be made of wool, feathers, cotton batting, etc. In someembodiments, dynamic support apparatus 10 additionally includes twoactuators 16. Various embodiments may include any other suitable numberof actuator 16.

As shown, the actuators 16 may be disposed in voids in the foam cushion14 and are roughly level with the top of the foam cushion 14 in someembodiments. In some embodiments the top of the actuators 16 may beproud of the foam cushion 14. In some embodiments, foam or anotherpadding material may be included over top of the actuators 16. Theactuators 16 may be located near the back of the dynamic supportapparatus 10. In various embodiments, the actuators 16 are disposedlaterally of the midline of the dynamic support apparatus 10; oneactuator 16 on the left and the other on the right. The actuators 16 insome embodiments are also generally symmetric about the midline. Someembodiments may include a different number of actuators 16. For example,in some embodiments, a third actuator 16 may be situated on the midlineof the dynamic support apparatus 10. Such an actuator 16 may be situatedbetween the left and right actuators 16 or may be positioned anteriorlyor posteriorly to the left and right actuators 16.

The arrangement of the actuators 16 may allow the actuators 16 tosupport high contact pressure areas of an occupant in the dynamicsupport apparatus 10. Specifically, in some embodiments where thedynamic support apparatus 10 is the support surface of a wheelchair, thebony prominences of the ischial tuberosities, sacrum, and/or greatertrochanters may be supported by the actuators 16. Other regions or areasmay also be actuator 16 supported. Some embodiments may also or insteadsupport the coccyx/sacrum region of an occupant with an actuator 16.

In some embodiments, the dynamic support apparatus 10 may include threeactuators 16. FIG. 2 shows a representational perspective view of oneembodiment of a dynamic support apparatus 10 with the top cover 12 ofthe dynamic support apparatus 10 pulled away to expose the interior ofthe dynamic support apparatus 10. In some embodiments, two of theactuators 16 may be rectangular. In some embodiments, one of theactuators 16 may be generally triangular in shape. In some embodiments,a triangularly-shaped actuator 16 may be utilized to provide support fora user's coccyx/sacrum region. In some embodiments, as shown in FIG. 2,the dynamic support apparatus 10 may include two substantiallyrectangular-shaped actuators 16 and one substantiallytriangularly-shaped actuator 16. In some embodiments, the posteriorlydisposed portion of the rectangular actuators 16 may deviate from arectangular shape to accommodate the triangular actuator 16. In someembodiments, instead of including the third actuator 16 shown in FIG. 2,the cushion 14 may include a void in its place.

In some embodiments, the actuators 16 may be strategically placed tosupport the user's bony prominences of the ischial tuberosities, coccyx,sacrum, greater trochanters, or a combination thereof. The rectangularactuators 16 may be disposed laterally of the midline of the dynamicsupport apparatus 10, with one actuator 16 on the left and the other onthe right. The third, triangular actuator 16 may be situated on themidline of the dynamic support apparatus 16. The third triangularactuator 16 may be situated between the left and right actuators 16, asshown in FIG. 2 or may be otherwise positioned in some embodiments. Theactuators 16 may differ depending on the occupant. In some embodiments,actuators 16 may come in a number of different sizes, including, but notlimited to, a bariatric adult size, average adult size, etc. In someembodiments, the actuators 16 may come in a standard size. This maydesirable/beneficial for many reasons, including but not limited to, theanatomical location of bony prominences such as the ischial tuberositiesdoes not have a wide variance from person to person. Thus, thoughheavier occupants may have a larger footprint, the high contact pressureareas which would benefit most from the actuators 16 described hereinwould be located in the same general location as they would for alighter occupant. The actuators 16 may be incorporated into foamcushions 14 of different sizes and/or shapes.

The medial edges of the actuators 16 may be separated by a divider 18which may prevent the actuators 16 from contacting and rubbing againsteach other. In some embodiments, the divider 18 is a portion of the foamcushion 14. In some embodiments, the divider 18 may be another materialsuch as a material with a low coefficient of friction. In someembodiments, the divider 18 may not be included.

The actuators 16 and foam cushion 14 may be encased by a cover 20. Thecover 20 may help to protect the cushion 14 and actuators 16 inside thedynamic support apparatus 10. In some embodiments, the cover 20 mayprovide and/or may be made of a material which provides protection forthe actuators 16 making damage of the actuators 16 less likely. In someembodiments, the cover 20 may also protect the foam cushion 14 frommoisture (perspiration, urine, spills, etc.) which may reduce thelifespan of the foam cushion 14. The cover 20 may be made from alow-friction material which aids in transferring on and off the dynamicsupport apparatus 10. Such a material may also be useful in reducing theshear forces between an occupant and actuators 16 and/or a foam cushion14. The cover 20 in some embodiments, may be made from a high frictionmaterial that helps to prevent slouching and sliding. The cover 20 mayalso be made from a coarse woven mesh material that helps wick moisturefrom the occupant's skin surface and promotes ventilation. In someembodiments, the cover 20 material may differ depending on the specificneeds of a user.

In some embodiments, a dynamic support apparatus 10 may include a numberof covers 20. In some embodiments, there may be a cover 20 for thecushion 14 and a separate cover 20 for the actuators 16 or a separatecover 20 for each actuator 16. This may help to prevent a “hammocking”effect where an occupant may be supported by a cover 20 when one or moreof the actuators is deflated or drawn away from the occupant.

FIG. 3 shows one embodiment of an actuator 16. The actuator 16 in someembodiments is roughly rectangular. In other embodiments, the shape ofthe actuators 16 may differ and may be any shape. In some embodiments,the actuator 16, as shown in FIG. 3, is a bladder. The actuator 16 hasan interior volume which may be filled with a fluid. Any suitable fluid,such as water, other liquid, gas, or atmospheric air, may be used. Someembodiments utilize air as the fluid. In some embodiments, the actuator16 may be constructed of a material which is impervious or nearlyimperious to the fluid selected to fill the actuator 16. This mayminimize or prevent fluid leakage from the actuators 16. In someembodiments the actuator 16 is made of polyurethane. However, in variousother embodiments, the actuator may be made from any material.

As shown, the actuator 16 in FIG. 3 additionally includes asupplementary support 50. The supplementary support 50 is disposedinside the interior volume of the actuator 16. In some embodiments thesupplementary support 50 is located at the bottom of the actuator 16.The supplementary support 50 may function as a back-up support. In someembodiments, the supplementary support 50 may support an occupant in theevent of a failure of the actuator 16. The supplementary support 50 mayalso keep the occupant from bottoming out on, for example, a seat pan ofa wheelchair if the wheelchair rides off a curb or over a large bump.The supplementary support 50 may be constructed of a material such asfoam or any other material.

Referring now also to FIG. 4, a partial side view of an actuator 16 isshown. The actuator 16 includes a supplementary support 50 similar tothe supplementary support 50 depicted in FIG. 3. The supplementarysupport 50 shown in FIG. 4 is stratified and includes a first stratum200, a second stratum 202, and a third stratum 204. In otherembodiments, such as the embodiment shown in FIG. 3 the supplementarysupport 50 may not be stratified. In embodiments including a stratifiedsupplementary support 50, the supplementary support 50 may have anynumber of strata. Additionally, in some embodiments, the foam cushion 14(see FIG. 1) may also be stratified in a manner similar to that shownand described in relation to FIG. 4. Alternatively, in some embodiments,a supplementary support 50 may be included as a part of the cushion 14.In some embodiments the supplementary support 50 may be a portion of thecushion 14 upon which each actuator 16 is placed. In some embodiments,the supplementary support 50 may be an overlay which is placed on top ofeach actuator 16 once installed in the cushion 14. In such embodiments,the supplementary support 50 may be stratified.

Each stratum of a supplementary support 50 may be a material havingdiffering properties. In some embodiment the supplementary support 50may include strata of foams with differing properties orcharacteristics. In some embodiments of the dynamic support apparatus10, different actuators 16 may have different supplementary supports 50.In some embodiments, some supplementary supports 50 in some actuators 16may be stratified while others are not. Some actuators 16 within thedynamic support apparatus 10 may not include supplementary supports 50.Some actuators 16 within a dynamic support apparatus 10 may havesupplementary supports 50 with a greater number of strata than othersupplementary supports 50 in other actuators 16. The types of foam usedto create the strata in one supplementary support 50 may be differentthan those used to create the strata in other supplementary supports 50.In some embodiments, a slit or number of slits may be cut into asupplementary support 50 to allow a baffle 150 (see FIG. 13) or numberof baffles 150 to pass through the supplementary support 50. In someembodiments, foam strata may not be substantially flat, but rathercontoured to better suit the anatomy of the supported area of anoccupant.

In some embodiments, including those shown in FIG. 4, the first stratum200 of the supplementary support 50 is a foam with a relatively smallindentation force deflection (hereafter “IFD”) value as indicated by thelow density of the stippling of the first stratum 200. The secondstratum 202 of the supplementary support 50 has an IFD higher than thatof the first stratum 200 as indicated by the greater density of thestippling of the second stratum 202. The third stratum 204 of thesupplementary support 50 has an IFD higher than that of the secondstratum 202 as indicated by the high density stippling of the thirdstratum 204. In some embodiments the strata of foams in the stratifiedsupplementary support 50 are roughly the same thickness. In someembodiments, the strata may have differing thicknesses. In someembodiments the first stratum 200 may be thicker than both the secondstratum 202 and third stratum 204.

A stratified supplementary support 50, such as the supplementary support50 shown in FIG. 4, may be desirable/beneficial for many reasons,including but not limited to, it creates an appealing balance betweenoccupant comfort, proper support, and bottom out protection when theoccupant is being supported by the supplementary support 50. Using theexample of a wheelchair, when not supported by an inflated actuator 16,the occupant may be substantially supported by the first stratum 200 ofthe supplementary support 50 during periods of inactivity or lowactivity. Since the first stratum 200 of the supplementary support 50has a relatively small IFD value in the example embodiment, the firststratum 200 easily conforms to the contours of an occupant thusaffording the occupant an appropriate pressure distributing supportsurface and large degree of comfort. During periods of increasedactivity, jostling, riding over rough or uneven surfaces, etc. thehigher IFD value strata of the supplementary support 50 prevent a userfrom bottoming out on the seat pan. This is so because the higher IFDfoam strata require a higher amount of force to fully compress to thepoint of densification (the point where their cushioning capabilitiesare compromised).

In some embodiments, the actuators 16 may be structured to be easilycollapsible or expandable. In some embodiments, an actuator 16 may havepleated walls as shown in FIG. 5 and resemble an accordion or bellows.Such a configuration may help to increase the linearity of travel as theactuator is inflated or deflated. In some embodiments, an actuator 16with such pleat features may have a rectangular, a square, circular,etc. type footprint. Other appropriate shapes or combinations ofappropriate shapes may be used.

In some embodiments where the actuator 16 is a bladder, the amount offluid and/or pressure of fluid in the actuator 16 may be varied. In someembodiments, the pressure set point of the actuator 16 may be set suchthat it substantially mimics the support characteristics of the cushion14 (see, for example, FIG. 1). Referring back to FIG. 1, the left andright actuator 16 may be inflated and deflated in a manner so as toperiodically relieve pressure from a portion of the occupant and shiftit to another part of the occupant. The initial set point as well asvariation in the actuator 16 pressure can be customized to accommodatethe specific support and positioning needs of a person and minimizelocalized high pressure areas.

This customization may not only increase comfort, but may also aid inthe prevention of debucitus ulcers or pressure sores, by allowingsufficient perfusion to the relieved area. When one actuator 16 isdeflated, the supplementary support 50 shown in FIG. 3 may prevent theoccupant from bottoming out on, for example, the seat pan of awheelchair. In some embodiments, negative pressure may be applied to theactuators 16 to compress the supplementary support 50 such that theactuator 16 is completely out of contact with the occupant and evengreater pressure relief is achieved. In some embodiments, when anactuator 16 is not supporting an occupant, the weight of the occupantmay be borne by the a cushion and/or a supplementary support 50 of thatactuator 16.

Though some embodiments may use one or more pressure set point tocontrol actuators 16, other embodiments may control actuators 16 withalternative set points. For example, a control set point may be basedaround the volume, mass, or mols of gas in an actuator 16. Depending onthe set point, a dynamic support apparatus 10 may include sensors whichcan provide feedback related to the set point. For example, a pressuresensor or mass air flow sensor may be included.

In some embodiments, a sensor such as pressure mapping mat may beutilized to determine a specific user's support and positioning needs.After determining the individual user's needs, a customized pressurerelief user profile may be created to best meet the individual user'ssupport and positioning needs. In some embodiments, the size of theactuators 16 may be chosen to achieve optimal support. The size andarrangement of the actuators 16 may have an effect on occupantstability. If an actuator 16 is too large, the user may slump into theactuator 16 and become less stable. If an actuator 16 is too small, theuser may not receive the most optimal pressure relief. In someinstances, it may be desirable to substantially support a user's thighwith a surrounding cushion 14 (see, for example, FIG. 1) instead of theactuator 16. In some embodiments, an actuator 16 spanning 7-inches inthe anterior to posterior direction may be desirable. Additionally, insome embodiments, the type of user may be considered in determining thesize and or other characteristics of an actuator 16.

In some embodiments, the actuator 16 shown in FIG. 3 may be constructedof a number of different pieces of material. In some embodiments, theactuators 16 may be formed from a number of pieces of polyurethane. Inother embodiments, a different material such as neoprene rubber may beused. In some embodiments, the actuators 16 or a portion of theactuators 16 may be constructed out of a piece or pieces of injectionmolded material. Any other suitable material may also be used. Thepolyurethane pieces may be sheets of polyurethane of any suitablethickness. For example, in specific embodiments, the polyurethane piecesmay be sheets of 0.030″ thick polyurethane. Other embodiments may usethinner (e.g. 0.015″ thick), more flexible sheets of polyurethane toprovide greater comfort for an occupant of the dynamic support apparatus10. Other embodiments may use thicker (e.g. 0.060″ thick), more durablesheets of polyurethane to form more durable actuators 16. The pieces ofmaterial may be seamed together to form an actuator 16 such as theactuator 16 shown in FIG. 3. In some embodiments, the thickness of theactuator 16 may not be uniform. For example, it may be desirable thatthe top face of an actuator 16 be made thicker than the side walls ofthe actuator 16.

Referring now also to FIG. 6, a partial view of an actuator 16 is shown.The seam 100 for two polyurethane pieces of the actuator 16 is alsoshown. In FIG. 6 the polyurethane pieces are heat seamed together. Inother embodiments, other suitable ways of coupling the actuator 16material together, such as RF welding, laser welding, solvent bonding,adhesive bonding, or any other coupling/bonding method which would beobvious to one skilled in the art may be used.

As shown in FIG. 6, the seam 100 of the two polyurethane pieces is onthe outside of the actuator 16. When such a seam 100 is on an exteriorsurface of the actuator 16 proximal to an occupant, the seam 100 maycreate a surface discontinuity between the actuator 16 and the foamcushion 14. Such a discontinuity may be felt by the occupant duringperiods of prolonged occupation of the dynamic support apparatus 10making the seam 100 a source of discomfort. Moreover, such adiscontinuity may create a stress concentration which can inhibitperfusion and lead to the development of a pressure sore. This problemmay be reduced by turning the actuator 16 inside out after seams 100have been created.

Referring now also to FIG. 7 a partial view of an actuator 16 which hasbeen turned inside out is shown. As shown, the seam 100 extends into theinterior volume of the actuator 16. As such, the seam 100 would notpresent such a surface discontinuity and resultant increased ulcerationrisk and discomfort for an occupant during periods of prolongedoccupation of the dynamic support apparatus 10. The actuator 16 may, forexample, be turned inside out after the top piece and side piece orpieces of the actuator 16 have been coupled together. The bottom pieceof the actuator 16 may then be coupled to the side piece or pieces.Since seams 100 on the bottom of the actuator 16 should not be felt byor project into an occupant, their presence on the exterior of theactuator 16 should not present a comfort or injury concern for theoccupant.

Other embodiments may couple the pieces of material with an exaggeratedseam 100 as shown in FIG. 8. The seam 100 shown in FIG. 8 is similar tothe seam 100 shown in FIG. 6, but there is an extra flange 101 ofmaterial from the top sheet of the actuator 16 which rests on the foamcushion 14. The extra flange 101 of material is substantially thinnerthan the seam 100 of the actuator 16 since it is only a single piece ofmaterial and not two seamed together. Though the seam 100 is on theexterior of the actuator 16, surface discontinuity between the foamcushion 14 and the actuator 16 is minimized by the extra flange 101.Thus the seam 100 and extra flange 101 in FIG. 8 creates more negligiblediscomfort and ulceration risk to an occupant during prolonged periodsof occupation of the dynamic support apparatus 10.

In some embodiments, the actuator 16 may only be made of two pieces ofmaterial. One such embodiment is shown in FIG. 9. In the embodimentshown in FIG. 9, the actuator 16 is constructed of two pieces ofmaterial which have been coupled together. The two pieces of materialmay be vacuum formed, thermoformed, injection molded, etc. polyurethanein some embodiments. In the embodiment in FIG. 9, the two pieces are ofthe same dimensions and may be formed from the same mold. The two piecesare coupled together along a central seam 100. The location of the seam100 ensures that the seam 100 may not be felt by or present aproblematic surface discontinuity to an occupant.

Alternatively, and referring to FIGS. 9A and 9B, the two halves 2272A,2272B may be formed in the same piece of material as a clamshell 2270.That is, the two halves 2272A, 2272B may be formed adjacent to oneanother in the same piece of material (FIG. 9A). After forming, thematerial may then be folded to close the clamshell such that the twohalves 2272A, 2272B meet to form the actuator 16 (FIG. 9B). The materialmay then be seamed to complete the actuator 16. Such an actuator mayhave a central seam 100 similar to that depicted in FIG. 9. Due to thefolding of a continuous piece of material, however, one side 2274 of theactuator 16 would not be required to be seamed.

In embodiments where the actuator 16 or part of the actuator 16 isvacuum or thermoformed from polyurethane, it may be desirable to use athicker sheet of polyurethane (e.g. 0.060″). This is so because as theactuator 16 is formed some of the polyurethane material is caused tothin as it is stretched. Using a thicker sheet of polyurethane duringvacuum or thermoforming may be desirable for other reasons as well. Forexample, if used in conjunction with a positive form as opposed to anegative, cavity form, it allows the top surface of the actuator 16 tohave a relatively greater thickness than the side walls. This may bedesirable because the top surface, which is most prone to puncture, ismade to be more durable while the thinner side walls still allow for afairly large amount of flexibility.

In some embodiments, one or more faces of an actuator 16 or actuators 16may be contoured. Such contours may help to better support a user.Additionally, such contours may be useful in ensuring surfacediscontinuities and pressure points do not arise when the actuator 16 isin a collapsed, deflated, or otherwise retracted state. In some specificembodiments, the adjacent faces of the actuators 16 may be contoured.Contouring the adjacent faces of the actuators 16, may aid in optimizingpressure distribution.

FIG. 10 shows another embodiment of an actuator 16 where the actuator 16is a bladder formed from only two sheets of material. In the embodimentin FIG. 10 the top and sides of the actuator 16 may, for example, be asingle piece of vacuum, molded, or thermoformed material such aspolyurethane.

The bottom piece may be a sheet of polyurethane which is substantiallyplanar in some embodiments. As shown, the bottom piece is coupled to thebottom edges of the sides of the actuator 16. By locating the seam 100along the bottom of the actuator 16 it is ensured that the seam 100 maynot be felt by the occupant. Additionally, disposing the seam 100 asshown ensures the seam 100 does not raise an ulceration risk to theoccupant.

FIG. 11 shows an embodiment of an actuator 16 similar to the actuator 16shown in FIG. 10. The actuator 16 shown in FIG. 11 includes an expandedportion 110 along its top edge such that the actuator 16 vaguelyresembles a mushroom or muffin. The expanded portion 110 may bridge anygap which may exist between the actuator 16 and the foam cushion 14and/or divider 18 (see FIG. 1 for example). The expanded portion 110 mayoverlap a piece of the foam cushion 14 and/or divider 18. Alternatively,and as shown, a portion of the cushion 14 may be recessed such that itmay accept the expanded portion 110. The expanded portion 110 along thetop edge of the actuator 16 may be desirable because it helps smooth thetransition from the actuator 16 the rest of the dynamic supportapparatus 10 by minimizing surface discontinuities. In alternateembodiments, the foam cushion 14 and/or divider 18 may include a portionwhich overlaps the edges of the actuator 16. The actuators 16 may becontoured to allow such a portion of the foam cushion 14 and/or divider18 to overlap the actuator 16 edges in a manner which creates minimalsurface discontinuity.

FIG. 12 shows another embodiment of an actuator 16. As shown, theactuator 16 in FIG. 12 is roughly rectangular. As mentioned above,actuators 16 need not be rectangular but may take any suitable shape.The actuator 16 may additionally include a baffle 150 within theinterior volume of the actuator 16. In alternate embodiments, multiplebaffles 150 may be included in the actuator 16. In the embodiment, thebaffle 150 is a band. In other embodiments, the baffle 150 may not be aband, but rather a string, strand, or the like. The baffle 150 may,depending on the embodiment, be located in roughly the center of theactuator 16. The baffle 150 extends from the interior bottom surface ofthe actuator 16 to the interior top surface of the actuator 16. In theembodiment, the baffle 150 is a relatively thin strip of material. Inother embodiments, the baffle 150 may take any suitable width. Inembodiments where the actuator 16 is made of polyurethane sheets, thebaffle 150 may also be made of polyurethane. The baffle 150 may becoupled to the top and bottom interior surfaces of the actuator 16 byany suitable means. In some embodiments, the baffle 150 may be locatedoff-center of the actuator 16.

The baffle 150 serves to constrain the actuator 16 from expanding in atop-bottom direction when inflated. Without the baffle 150, the actuator16 would, when inflated, demonstrate a tendency to balloon such that thetop surface of the actuator 16 would display a rounded bulge as shown bythe dashed line 152 in FIG. 13. Such a bulge would be undesirablebecause the bulge of the bladder cushion 16 may unevenly push into anoccupant. This would create an uneven surface and pressure distributionfor an occupant occupying the dynamic support apparatus 10. Such ascenario may cause discomfort and may frustrate ulcer preventionobjectives of the dynamic support apparatus 10.

In addition or alternatively, an actuator 16 may include one or morebaffle 150 which is oriented horizontally. This may serve to constrainthe sides of an actuator 16 from ballooning or bulging out under theweight of an occupant. In embodiments including a horizontal baffle 150,the baffle 150 may be placed between two parts of the actuator 16 whenit is seamed together such that edges of the baffle 150 will become apart of the seam. Thus, the baffle 150 may be attached to the actuator16 in the proper orientation when the actuator 16 is formed.

FIG. 13 shows a cross-sectional view of an actuator 16 including abaffle 150 taken at line 10-10 of FIG. 12. The actuator 16 in FIG. 13 isseamed like the actuator 16 shown in FIG. 7. As shown, the actuator 16is in an inflated condition. The baffle 150 is taught and constrainingthe top surface of the bladder cushion 16 from bulging up into anoccupant. Also shown in FIG. 13 is a dashed line 152 indicating thebulge which would be present in absence of the baffle 150. As indicatedabove, the baffle 150 may help to ensure a more even pressuredistribution across the area of the occupant supported by the actuator16.

In embodiments of the dynamic support apparatus 10 where the actuators16 are bladders, the bladders may be filled with a fluid such as air.Preferably, the actuator 16 bladders are not filled with fluid to thepoint of turgidity, but rather are somewhat flaccid. In the example of awheelchair, as an occupant sits on the actuators 16, the fluid in theactuators 16 may compress until the pressure of the fluid within theactuators 16 equals the contact pressure of the occupant. Pressure mayalso be substantially evenly distributed over the occupant contact area.The resulting pneumatic pressure of air in an actuator 16 for an averageoccupant may be in the range of 0-150 mm Hg.

As mentioned above, in some embodiments where the actuator 16 is abladder, the volume of fluid in the interior volume of the bladder maybe variable. In such embodiments, a pump 500 (see, for example, FIG. 25)may be used to vary the volume of fluid in the actuator 16. In apreferred embodiment, a pump 500 may use the ambient atmosphere as itsfluid reservoir 502 (see, for example, FIG. 25). The pump 500 and/orpneumatic system may be capable of applying both positive and negativepressure to respectively inflate or deflate a selected actuator 16. Someembodiments may include a manifold 518 (see, for example, FIG. 25) whichmay enable fluid to be directed to a specific actuator 16. Thus, bycontrolling the type of pressure applied and to which actuator 16 it isapplied, the actuators 16 may be selectively inflated and deflated torelieve pressure from various anatomical areas and to help prevent theformation of pressure sores by improving perfusion in the blood vesselsof the relieved area.

In order to add or remove fluid from an actuator 16, actuators 16 mayinclude a fluid port 220 such as the embodiment of the fluid port 220shown in FIG. 14. The fluid port 220 may include an actuator channelattachment feature 222 and a base 224 as shown in FIG. 14. The fluidport 220 may be formed by any suitable manufacturing process, forexample, injection molding. As shown, the base 224 in some embodimentsis roughly rectangular. In some embodiments, the base 224 may take adifferent shape. For example, the base 224 may be puck-like. The base224 may be coupled to the actuator 16 by any of a variety of means. Thebase 224 may, for example, be heat bonded onto the actuator 16. In someembodiments, the base 224 may be attached differently. For example, thebase 224 may be coupled to the actuator 16 by laser welding, RF welding,or any other technique. In some embodiments, the base 224 may not bemade an integral part of the actuator 16. In such embodiments, the base224 may include two parts which are coupled together after one has beenpassed through a stoma 258 (see, for example, FIG. 16).

As shown in some embodiments, the actuator channel attachment feature222 rises off roughly the center of the base 224 toward the top of thepage. The actuator channel attachment feature 222 in some embodimentsextends in a direction substantially parallel to two of the sides of thebase 224. In some embodiments, the actuator channel attachment feature222 includes a passage 226 which is shown in outline form in FIG. 14. Asshown, the actuator channel 520 may be coupled into the passage 226 ofthe actuator channel attachment feature 222. This may be accomplished byany suitable coupling method. The passage 226 provides a pathway forfluid to be communicated into and/or out of the interior volume of theactuator 16 via the actuator channel 520.

FIG. 15 shows two actuators 16 of a dynamic support apparatus 10 whichinclude fluid ports 220 similar to those shown in FIG. 14. As shown, theactuators 16 in FIG. 15 include a supplementary support 50. The fluidports 220 are disposed on the side walls of the actuators 16 slightlyabove the supplementary support 50. Such a placement of the fluid ports220 allows them to have unrestricted fluid communication with theinterior volume of the actuators 16. Additionally, by disposing thefluid ports 220 as shown in the embodiment shown in FIG. 15, the fluidports 220 are kept out of contact with an occupant. Preferably, thefluid ports 220 are disposed on the actuators 16 in a location wherethey are not likely to be felt by or project into the occupant even whenthe actuator 16 is deflated.

Some embodiments may include a similarly disposed pressure relief valve(not shown). The pressure relief valve (not shown) may help to preventactuator 16 damage from impact loading (e.g. riding off a curb in awheelchair). The pressure relief valve (not shown) may also reduceeffects to an occupant by relieving some of the peak loads generatedduring such scenarios. Any suitable pressure relief valve may be used.

As shown in FIG. 15, the actuator channels 520 do not couple to thefluid ports 220 at an angle substantially perpendicular to the side wallof the actuators 16. The actuator channels 520 instead couple to thefluid ports 220 in a fashion substantially parallel to the side walls ofthe actuators 16. This may be done to avoid kinking the actuatorchannels 520 when the actuators 16 are placed in the voids of the foamcushion 14 (see FIG. 1). In some embodiments, the foam cushion 14 (seeFIG. 1) may include pathways which allow the actuator channels 520 topass through at least a part of the foam cushion 14 (see FIG. 1).

As indicated in FIG. 15, the actuator channels 520 are bundled togetherfor a substantial portion of their extent. In some embodiments, theactuator channels 520 may be bundled together by any suitable fastenersuch as a cable tie, hook and loop tape, or the like. In someembodiments, the actuator channels 520 may be incorporated into aribbon. In some embodiments, the actuator channels 520 may be braidedtogether. Any other means of achieving the same may also be used.Bundling the actuator channels 520 together is desirable because itminimizes the opportunity for a snag to occur. In some embodiments, theactuator channels 520 may be coupled to their respective fluid ports 220or to a manifold 518 (see, for example, FIG. 25) in a manner which wouldfacilitate a graceful breakaway should a snag occur.

FIG. 16 shows a cutaway view of one embodiment of an actuator 16 whichincludes a sensor 250. Some embodiments of actuators 16 may include anumber of sensors 250. The sensor 250 may be used for gatheringinformation about conditions in the interior volume of the actuators 16.For example, the sensor 250 may sense the pressure of fluid in theinterior volume of the actuator 16. The sensor 250 may also be used tosense, for example, the distance between the sensor 250 and a surface ofactuator 16. In some embodiments the sensor 250 may detect a bottom outor over inflation of an actuator 16. In some embodiments a sensor 250may be a mass air flow sensor monitoring air in and out of the actuator16. Actuators 16 may also include other sensors 250 which may senseother characteristics. For example, an actuator 16 may include a sensor250 measuring a physiological characteristic such as a pulse-oximeter.Other sensors 250 such as temperature sensors or moisture sensors mayalso be included. In a preferred embodiment, the sensor 250 or sensors250 are not made as an integral part of the actuator 16. In someembodiments, a sensor 250 or sensors 250 which are not disposed on or inthe actuators 16 may also be included. In some embodiments, a sensor 250may be included in the fluid pathways to and from the actuator 16.

In some embodiments, the sensor 250 is part of a sensor assembly 252which is shown exploded apart in FIG. 16. FIG. 16 shows one embodimentsof a sensor assembly 252 that is not an integral part of the actuator16. In some embodiments, the sensor assembly 252 includes a sensorhousing 254 which houses the sensor 250 and a plug portion 256. Otherembodiments of sensor assemblies 252 may differ. As shown, the actuator16 includes an orifice or stoma 258 through which the sensor housing 254and sensor 250 may be passed through. Once the sensor housing 254 andsensor 250 have been passed into the actuator 16, the plug portion 256may be coupled to the sensor housing 254 so that an airtight seal isformed.

The stoma 258 may be a suitably sized hole cut into the bottom sheet ofthe actuator 16 as shown in FIG. 16. The stoma 258 may be cut into adifferent portion of the actuator 16 which may be desirable inembodiments with a supplementary support 50 (see FIG. 5). In embodimentsincluding a stoma 258, it may be desirable that the stoma 258 is not cutinto the top of the actuator 16 so that plug portion 256 of the sensorassembly 252 does not contact or press against an occupant when anoccupant is occupying the dynamic support apparatus 10. As previouslymentioned, a similar arrangement may also be used to couple a fluid port220 into an actuator 16.

FIG. 17 shows one embodiment of a sensor assembly 252 integrated into anactuator 16 through a stoma 258. As shown, the sensor 250 is disposedinside the sensor housing 254 of the sensor assembly 252. The sensorhousing 254 includes a sensor housing flange 262 which projectsoutwardly from the sensor housing 254 along the same plane as the bottomsurface of the sensor housing 254. A cylindrical void 262 is recessedinto the bottom of the sensor housing 254. The sides of the cylindricalvoid 262 may be threaded as shown.

In some embodiments, a plug portion 256 of a sensor assembly 252 is alsoshown in FIG. 17. As shown, the plug portion 256 includes a plug portionflange 264. The plug portion flange 264 projects outwardly from the plugportion 264 along the same plane as the bottom surface of the plugportion 256. The plug portion 256 also includes a cylindricalprotuberance 266 which protrudes toward the top of the page. As shown,the cylindrical protuberance 266 is threaded such that the plug portion256 may be screwed into the threads of the cylindrical void 262 of thesensor housing 254.

When the sensor housing 254 and plug portion 256 are screwed together,the sensor housing flange 260 and plug portion flange 264 form a flangeseal against the material of the actuator 16. This seal ensures thatfluid may not exit the actuator 16 via the stoma 258. Other means ofcreating a fluid or airtight seal may also be used.

FIG. 18 shows another embodiment of a sensor assembly 252 in placewithin the stoma 258 of an actuator 16. As shown, the plug portion 256of the sensor assembly 252 is substantially the same as the plug portion256 shown in FIG. 17. The sensor housing flange 260 includes an O-ringchannel 270 which is recessed into the sensor housing flange 260 fromthe bottom surface of the sensor housing flange 260. As shown, an O-ring272 is disposed in the O-ring channel 270 of the sensor housing flange260. As the plug portion 256 and sensor housing 254 of the sensorassembly 250 are screwed together, the O-ring 272 becomes compressedagainst the material of the actuator 16 forming a fluid or airtightO-ring seal. In alternate embodiments, the O-ring channel 270 and O-ring272 may be disposed on the top surface of the plug portion flange 264.

FIG. 19 shows another embodiment of the sensor assembly 252 in placewithin the stoma 258 of an actuator 16. As shown, the plug portion 256is different than those shown in FIG. 17 and FIG. 18. The edge of theplug portion flange 264 most distal to the cylindrical protuberance 266includes a plug portion flange projection 274. As shown, the plugportion flange projection 274 extends from the top surface of the plugportion flange 264 toward the top of the page at an angle substantiallyperpendicular to the top surface of the plug portion flange 264.

The sensor housing 254 in FIG. 19 is also different than those shown inFIG. 17 and FIG. 18. As shown, the sensor housing flange 260 includes asensor housing flange groove 276 which is recessed into the bottomsurface of the sensor housing flange 260. When the sensor housing 254and plug portion 256 are married together, a fluid or airtight grooveseal is formed as the material of the actuator 16 is pressed into thesensor housing flange groove 276 by the plug portion flange projection274. In alternate embodiments, the groove of the groove seal may bedisposed on the top surface of the plug portion flange 264 while theprojection may be disposed on the bottom surface of the sensor housingflange 254.

In some embodiments, the sensor housing 254 and plug portion 256 may notbe coupled together via a threaded coupling. In alternate embodiments,the sensor housing 254 and plug portion 256 may be snap fit, frictionfit, magnetically coupled, etc. In a preferred embodiment, the sensorhousing 254 and plug portion 256 are releasably coupled together. Theymay also be standardized across actuators 16. This may be desirablebecause it would allow a user to transplant the sensor assembly 252 toanother actuator 16 in the event that the sensor assembly's 252 originalactuator 16 is compromised. This would lower the cost of a replacementactuator 16 in the event of an actuator 16 failure.

FIG. 20 shows a side view of an embodiment of an actuator 16. As shown,the actuator 16 is a bladder with a variable interior volume whichincludes a sensor 250. The sensor 250 may be part of a sensor assembly252 which is coupled into the actuator 16 as described above. The sensor250 shown in FIG. 20 includes a potentiometer 280 and an arm 282. Asshown, the potentiometer 280 is located on the bottom of the actuator16. The arm 282 is coupled into the potentiometer 280 such that movementof the arm 282 causes the wiper of the potentiometer 280 to slide acrossthe resistive element of the potentiometer 280. The arm 282 extends fromthe potentiometer 280 to an attachment point 284 on the top interiorsurface of the actuator 16.

The sensor 250 may be used to measure the height of the actuator 16. Asthe actuator 16 inflates or deflates, the arm 282 is caused to move asthe angle between the arm 282 and the bottom of the actuator 16 changes.This may be measured by the change in resistance of the potentiometer280. Measurements from the potentiometer 280 may be used to ensure thatthe amount of fluid in the actuator 16 is sufficient to support theoccupant at a desired height from the bottom of the actuator 16. In someembodiments, if the height of the actuator 16 as measured by thepotentiometer 280 suggests the occupant is riding high on a turgidactuator 16, air may be bled off or pumped from the actuator 16 until amore desirable height is measured. Likewise, if the height measurementsuggests the occupant is riding too low, more fluid may be added to theactuator 16 to better support the occupant and prevent a bottom outunder dynamic loading conditions.

Though the embodiment shown in FIG. 20 depicts a sensor 250 whichemploys only a single arm 282, other embodiments may be configured witha linkage or scissor jack type mechanism. This may be advantageous, inthat the potentiometer 280 may easily be located in the center of thebottom panel of the actuator 16 measure the height of the center of thetop of the actuator 16. As would be appreciated by one skilled in theart, the sensitivity of the height measurement could be increasedthrough use of a linkage constructed to create relatively large angularchanges in the potentiometer 280 per unit height displacement.

FIG. 21 shows another side view of another embodiment of an actuator 16.Again, as shown, the actuator 16 is a bladder with a variable interiorvolume which includes a sensor 250. In the embodiment shown in FIG. 21,the sensor 250 may be part of a sensor assembly 252 which is coupledinto the actuator 16 through a stoma 258 as described above. In theembodiment, the sensor 250 is a non-contact sensor. Specifically, thesensor depicted in FIG. 21 is an optical range finder. As shown, areflective surface 290 is disposed about the top interior surface of theactuator 16. In alternate embodiments, the actuator may not include areflective surface 290 but rather another suitable indicator. As theactuator 16 in the embodiment shown in FIG. 21 inflates or deflates, thestrength of the reflected signal respectively decreases and increases.The strength of the signal may be used to determine the height of theactuator 16. As mentioned above, the height measurement may be used todetermine if an occupant is riding high or low and adjust the height ofthe actuator 16 by adding or removing fluid accordingly.

A number of other non-contact sensors 250 may be used to achieve thesame end. In some embodiments, the sensor or sensors 250 may be anoptical or infrared camera chip. The top of the actuator 16 may then bemarked with a fiducial marker, grid of fiducial markers, or otherpattern of fiducial markers. Such markers may, in some embodiments, betarget circles, crosshairs, or any other suitable marker. In someembodiments of a single fiducial marker, the sensor 250 may capture theapparent size of the marker and this apparent size may be fed to analgorithm to divine the approximate height of the actuator 16.Similarly, in the case of a grid or pattern of fiducial markers, theapparent size of the markers, as sensed by one or more sensors 250, maybe used to approximate the height and shape of the top of the actuator16 when fed to an algorithm.

Alternatively, the sensor or sensors 250 may be hall-effect sensors. Amagnet or magnets may be embedded or coupled to the top surface of theactuator 16. As the magnet or magnets displace with the top surface ofthe actuator 16, the output of the sensor or sensors 250 will varyaccordingly. The sensor's or sensors' 250 output may then be used todetermine the approximate height of the actuator 16.

In some embodiments including a non-contact sensor, the sensor 250 maymeasure capacitance of the actuator 16. In such embodiments, the top ofthe actuator 16 may be metalized. As the actuator 16 height changes, thecapacitance of the actuator 16 should change in kind. The capacitance ofthe actuator, as measured by the sensor 250 may be used to determine theapproximate height of the actuator 16.

FIG. 22 and FIG. 23 show another side view of an embodiment of anactuator 16. The actuator 16 is a bladder with a variable interiorvolume which includes a sensor 250. As shown, the actuator 16 includes abaffle 150 similar to the baffle 150 shown in FIG. 12 and FIG. 13. Thebaffle 150 in FIG. 22 and FIG. 23 is elastically deformable by tensileforce. The baffle 150 may include a sensor 250 which functions as acontact sensor. Depending on the amount of deformation of the baffle150, the circuit formed by the sensor 250 may be partially or fullyclosed or broken.

As shown in FIG. 22, the actuator 16 is not inflated to the point ofturgidity. The baffle 150 is not in a deformed state and the circuitmade by the sensor 250 is closed. As the baffle 150 is stretched beyonda certain amount, the circuit made by the sensor 250 may be broken. Thebaffle 150, in some embodiments, may be configured such that the circuitmade by the sensor 250 is broken slightly before the actuator 16 becomesturgid as shown in FIG. 23. A controller 506 (see, for example, FIG. 25)may not allow fluid to be pumped to an actuator 16 if the circuit formedby the sensor 250 is broken. This may be done to help prevent discomfortand high contact pressure areas from over inflation of the actuator 16.

In other embodiments, the sensor 250 in the baffle 150 may not be acontact sensor. In some embodiments, the baffle 150 may include anintegrated strain gauge. Any deformation of the baffle 150 due totensile forces generated from an inflated actuator 16 may be measured bythe strain gauge. As mentioned above, this measurement may be used todetermine if an occupant is riding at an undesirable level so that theamount of fluid in the actuator 16 may be adjusted accordingly.

FIG. 24 shows another side view of one embodiment of an actuator 16which is largely deflated. The actuator 16 includes a sensor 250 whichmay sense a “bottom out” condition of the actuator 16. As shown, aportion of the top surface of the actuator 16 is bottomed out on thebottom of the actuator 16. The top interior surface of the actuator 16may include a metalized patch 292. The bottom interior surface of theactuator 16 may include contacts 294 such as, in some embodiments, anarrangement of thin wires. When a bottom out condition is present, as inthe embodiment shown in FIG. 24, the bottom out condition may beregistered as a switch closure. When a bottom out condition is detected,the controller may attempt to inflate the actuator 16 such that theoccupant is supported by the fluid within the actuator 16. In someembodiments, when a bottom out condition is detected, an alarm may besounded. In some embodiments, the contact between the top and bottom ofthe actuator 16 may be made to have a relatively large resistance. Byobserving the amount of resistance, a controller 506 (see FIG. 25) maybe able to distinguish between an incidental contact and a broad bottomout.

Other embodiments may use other varieties of suitable sensors 250 tosense various conditions or characteristics of the actuator 16 or thefluid in the interior volume of the actuator 16. Some embodiments mayuse multiple sensors 250 in each actuator 16, such as but not limited tothose described above. In some embodiments, each actuator 16 may includesensors 250 to sense a number of characteristics of each actuator 16 orthe fluid in the interior volume of each actuator 16. In someembodiments, data from the sensor 250 may be used in conjunction withdata from other sensors 250 not included on or within the actuator 16.In some embodiments, a bottom out sensor may be used in conjunction witha mass air flow sensor in an actuator channel 520 (see FIG. 15) todetermine if a gross leak (e.g. a ruptured or punctured actuator 16)condition exists.

In some embodiments, a sensor 250 may be used to provide automatedpressure relief. In some embodiments, information from a sensor 250 maybe utilized to determine whether positive or negative pressure should beapplied and for how long. In some embodiments, a motor, for example themotor 504 shown in FIG. 25, may be automatically turned on by acontroller (which may be or include a microprocessor) using datagathered by a sensor 250, to provide positive or negative pressure as isnecessary or dictated by a pressure relief scheme. In some embodiments,a controller may make such determinations based on trends of the datareceived from a sensor 250. In some embodiments, a controller mayutilize data from the sensor 250 as feedback when running the motor 504.Based upon sensor 250 data the controller may determine when an actuator16 has been sufficiently inflated or deflated. In some embodiments, themotor 504 may be turned off by the controller when sensor 250 dataindicates that a step in a pressure relief regimen has been completed.In some embodiments, such a step may be completed passively, without theuse of a pump (e.g. by connecting an actuator 16 to the atmosphere andallowing the weight of an occupant to drive fluid out).

A block diagram for an embodiment of a dynamic support system 2200having a dynamic support apparatus 10 with variable fluid volumeactuator 16 bladders is shown in FIG. 25. As shown, the pump 500 drawsin fluid from a reservoir 502. The pump 500 is powered by a motor 504which may be turned on or off by a controller 506. In some embodiments,the controller 506 may be, but is not limited to, a smartphone, tablet,Bluetooth, ZIGbee, RF connected device, IR connected device, wirelesslyconnected device, or any combination thereof. In some specificembodiments, the motor 504 may be a 5-W rated motor 504. An onboardpower source 508 and power conditioning 510 are included to providepower to the necessary components. In some embodiments, the onboardpower source 508 may be rechargeable by means of a charger 512. In someembodiments, the onboard power source 508 may be a battery or number ofbatteries such as lithium-ion cells. Some other embodiments may becapable of operation off of an external power source 514 or a variety ofdifferent external power sources 514. In some embodiments, power may beprovided by an external power source 514 during times of inactivity whensuch a source is available. During periods of activity the dynamicsupport apparatus 10 may be run off of an onboard power source 508.

In specific embodiments where the dynamic support apparatus 10 is beingused as the seat of a powered wheelchair, the battery bank of thepowered wheelchair may also be used as a power source. In someembodiments, the battery bank of the powered wheelchair may be used asthe primary power source, or may in some instances be considered anexternal power source, such as the external power source 514 in FIG. 25.In some embodiments, the battery bank of a powered wheelchair may not bethe primary power source used. Instead such a battery bank may be usedto ensure that the onboard power source 508 for the dynamic supportapparatus 10 is at an acceptable state of charge.

Still referring to FIG. 25, as fluid exits the pump 500, fluid maytravel to an accumulator 516. This fluid may then pass into a manifold518 which directs the fluid to the actuators 16. The manifold 518 may bemade using a variety of methods. The manifold 518 may be made frommachined solid material such as a plastic or metal. Alternatively, themanifold 518 may be injection molded as one or more parts. In stillother embodiments, the manifold 518 may be grown using an additivemanufacturing process such as a selective laser sintering process. Themanifold 518 and each actuator 16 may be connected via an actuatorchannel 520 which may, for example, be tubing. In some embodiments, thevalves associated with the manifold 518 may be controlled by acontroller 506 to selectively direct fluid to specific actuators 16.

In some embodiments, as mentioned above, the actuator channels 520 maybe bundled together or arranged in a ribbon-like formation. This may bedesirable to reduce the likelihood of the tubing tangling, snagging, orgetting caught on various objects. The actuator channels 520 mayinterface with the actuators 16 and/or controller 506 through adetachable interface 522. The detachable interface 522 may easily allowthe actuator channels 520 to be uncoupled from the actuators 16 orcontroller 506 if needed. In some embodiments, the detachable interface522 may allow actuator channels 522 which becomes snagged or caught onan object to uncouple from the actuators 16 or controller 506. Thisbreakaway feature may minimize the possibility for damage to theactuators 16, actuator channels 520, etc. In some embodiments, thedetachable interface 522 may be magnetically retained. Alternatively oradditionally, mechanical retaining structures may be included. Forexample, latches, snaps, clasps, or similar arrangements may be used.

In some embodiments, fluid which exits the manifold 518 may be subjectedto sensing. For example, in some embodiments, the pressure of the fluidmay be sensed by a sensor 250 such as a pressure transducer incommunication with the actuator channels 520. In other embodiments, asensor 250 such as a mass air flow sensor may be used to measure fluidin or out of each actuator 16. Other embodiments may use other fluidmanagement systems that meter fluid in discrete amounts. In someembodiments, multiple characteristics of fluid may be sensed. In someembodiments, the fluid may be sensed for the same characteristic at anumber of locations. In various embodiments, a pressure transducer maybe included in the manifold 518 in addition to a pressure transducer foreach actuator channel 520. This arrangement permits the sensors to becross-checked to ensure accurate measurement. In some embodiments, fluidcharacteristics may not be sensed in the actuator channels 520. Someembodiments may include a sensor 250, such as a mass air flow sensor 250disposed at the pump 500 or the manifold 518. Some embodiments mayinclude any of a variety of sensors 250 on or inside the actuators 16such as, but not limited to those described above. Information from thesensors 250 may be used by the controller 506 for control of the dynamicsupport apparatus 10. In some embodiments, information from the sensors250 may be used to determine when the motor 504 should be turned on andwhich actuator channel 520 fluid should be directed to or from via themanifold 518. In some embodiments, this information may also be used indetermining whether positive or negative pressure should be applied andfor how long. In some embodiments, the motor 504 may be utilized, inconjunction with the manifold 518, to draw a negative pressure. In someembodiments, a negative pressure may be drawn on an actuator 16 tocollapse a supplementary support within the actuator 16. In someembodiments, a negative pressure may be drawn to move a contactingsurface of the actuator 16 away from the user. In some embodiments, thismay be accomplished passively, without the use of a motor 504. In someembodiments, the user's weight may be utilized, in conjunction with themanifold 518, to collapse a supplementary support, or move thecontacting surface of the actuator 16 away from the user, or acombination of both. By utilizing information from the sensors 250, thecontroller 506 may ensure that the occupant is properly supported by theactuators 16. In some embodiments, sensing may not be necessary. In suchembodiments, pump 500 runtime may be used to track the amount of fluidand/or pressure of fluid in each actuator 16.

In some embodiments, the sensors 250 may be used to detect if thedynamic support apparatus 10 is occupied. As such, they may be used inlieu of an on/off switch. In some embodiments, the controller 506 may beprogrammed to recognize that a user has occupied a dynamic supportapparatus 10. In some embodiments, the controller 506 may turn on adynamic support apparatus 10 upon determination that the dynamic supportapparatus 10 is occupied. In some embodiments, a pressure relief regimenmay begin upon determination that a dynamic support apparatus 10 isoccupied. In some embodiments, the controller 506 may be programmed torecognize that the dynamic support apparatus 10 is empty or unoccupied.In some embodiments, the recognition of the absence of a user may promptthe controller 506 to turn off the dynamic support apparatus 10. In someembodiments, the controller 506 may use signals from a variety ofsensors, including, but not limited to, pressure sensors or bladderheight sensors, to determine if the dynamic support apparatus 10 isoccupied or unoccupied. In some embodiments, the controller 506 mayenter a maintenance state in which it causes fluid to be pumped into anactuator 16 to replace fluid lost over time. In some embodiments, thecontroller 506 may beep, buzz, light, or otherwise indicate (or anycombination thereof) to the user that the dynamic support apparatus 10is on and should be turned off if not in use. In some embodiments, thecontroller 506 may notify the user that the dynamic support apparatus 10is on and not in use upon determination that the dynamic supportapparatus 10 is empty.

In some embodiments, the controller 506 may be programmed to recognizedynamic loading conditions (e.g. the user is riding over bumps, offroad, jostling about, etc.). In some embodiments, the controller 506 mayuse signals from a variety of sensors, including, but not limited to,pressure sensors or bladder height sensors, to determine if a dynamicloading condition exists. In some embodiments, the controller 506 mayenter a power conservation state upon determination that such a stateexists. Such a state, may in some embodiments, be a maintenance state inwhich fluid is pumped into the actuators 16 to replace fluid lost overtime. In some embodiments, the controller 506 may equalize pressure inthe actuators 16 before entering the maintenance state. In someembodiments, a user may manually inform the controller 506 that he orshe is in a dynamic loading condition. In some embodiments, a user maymanually inform the controller 506 that he or she is not in a dynamicloading condition. In some embodiments, the controller 506 maymomentarily pause or abort the relief regimen when dynamic loadingconditions exist.

In some embodiments, the controller 506 may have at least one storedrelief regimen. In some embodiments, the controller 506 may have storedrelief regimens including, but not limited to, regimens for sedentaryactivity, semi-active, active, dynamic loading, user-specified modes,etc. In some embodiments, a user may select a stored relief programbefore the relief regimen may begin or may change to a relief regimensuitable for anticipated activity.

In some embodiments, the controller 506 may be programmed to enter atransfer aid mode. In some embodiments, a transfer aid mode may requireaffirmative user interaction with the controller 506. In someembodiments, a user may need to press a series of buttons, navigate aseries of menus, enter a particular intermediary mode, or anycombination thereof. It may be desirable that affirmative userinteraction be required to ensure that a user desires to enter the aidedtransfer mode and to ensure that a user does not enter the aidedtransfer mode by accident. In some embodiments, the actuators 16 may beinflated to lift and assist a user in transferring to another surface,such as, for example, a bed.

As shown, the controller 506 may include an on-board interface 523. Insome embodiments, the on-board interface 523 may be a panel 402 (see,for example, FIG. 26) of buttons 404 (see, for example, FIG. 26) and/orindicators 406 (see, for example, FIG. 26). The indicators 406 may belights such as LEDs. The on-board interface 523 may include indicators406 such as a power-on indicator, alert indicators, a chargingindicator, a battery remaining indicator, etc. The on-board interface523 may include a speaker for providing audible feedback for commandsand alerts. Additionally, the on-board interface 523 may include a decalor other graphic which displays operating pressures of each actuator 16.The decal or graphic may approximate the shape of the person supportapparatus 10 in visual appearance. The decal or graphic may havetri-color LED indicators 406 which visually convey actuator 16 pressureto the occupant by lighting in specific colors (e.g. green for positivepressure, yellow for negative pressure, red for alert). The lights maybe arranged on the decal such that their placement reflects the locationof the actuators 16 in the person support apparatus 10. The on-boardinterface 523 may include a pressure up button, a pressure down button,toggle buttons to switch between different operation modes, and/or anynumber of other user input buttons.

An external or remote interface 524 may be included. The externalinterface 524 may be, in some embodiments, a wireless pendant or othersuitable remote. In such embodiments, the external interface may havebuttons 404 and indicators 406 similar to the on-board interface 523.The external interface 524 may be a touch screen, LCD screen, or thelike which is mounted on, for example, a wheelchair. In suchembodiments, the screen may or may not be dedicated to the dynamicsupport apparatus 10. In some embodiments, the external interface 524may be, but is not limited to, an occupant's smartphone, computer, oroccupant support (e.g. bed, wheelchair, seat, etc.) control interface.In some embodiments the external interface 524 may include variousadditional controls such as, though not limited to, bump switches or sipand puff controls. In some embodiments, a dynamic support apparatus 10may be configured to interface with a number of different externalinterfaces 524. The external interface 524 provided may be selected suchthat it best meets an individual user's needs.

In embodiments including an external or remote interface 524, the remoteinterface 524 may be configured for attachment onto a convenient portionof the occupant support. The external interface 524 may communicate withthe controller 506 wirelessly or via a wired connection. In someembodiments, such an interface may communicate over CANbus. Such a buscould also be used for configuration and programming of a dynamicsupport apparatus 10 via a PC or the like (or a dedicated programminginterface). Use of CANbus may be desirable as it may allow forsimplified integration with an occupant support (e.g. wheelchair)controller. In other words, the joystick, buttons, sensor inputs,display, etc that are used for control of the occupant support couldthen also be used to interface with the dynamic support apparatus 10controller 506 and/or external interface 524.

In some embodiments the external interface 524 may display detailedinformation, diagnostics, and/or allow a user to alter settings orprogram customized operational modes. The external interface 524 mayhave expanded functionality when accessed by a clinician, technician,manufacturing, etc. The external interface 524 may be in cabledcommunication to the controller 506 via USB, RS-232, CANbus, etc. Theexternal interface 524 may be in wireless communication to thecontroller 506 (see, for example, FIG. 25).

An embodiment of an on-board interface 523 is shown in FIG. 26. Theon-board interface 523 is disposed about a panel 402 of a housing 400.The pump 500 (see, for example, FIG. 25), motor 504 (see, for example,FIG. 25), manifold 518 (see, for example, FIG. 25), controller 506 (see,for example, FIG. 25), on-board power 508 (see, for example, FIG. 25),etc. may be disposed inside the housing 400. As shown, the on-boardinterface 523 includes number indicators 406. The indicators 406 mayindicate, in some embodiments, characteristics such as those describedabove. The on-board interface 523 also includes two buttons 404. In someembodiments, the buttons 404 are for pressure up and pressure down.Other embodiments may include any number of buttons 404 with any numberof other functions.

An embodiment of a detachable interface 522 is also shown in FIG. 26. Asshown, the detachable interface 522 is detached in FIG. 26. The actuatorchannels 520 (see, for example, FIG. 15) may couple into the detachableinterface 522. When the detachable interface 522 is detached, fluidcommunication between the manifold 518 and actuators 16 may be broken.As mentioned above, in some specific embodiments, the detachableinterface 522 may magnetically or mechanically couple to the housing400.

FIG. 27 shows one embodiment of a detachable interface 522 in anexploded view. As shown, the detachable interface 522 includes a cover522 a. The cover 522 a includes a number of orifices 522 b into whichthe actuator channels 520 (see, for example, FIG. 15) may be inserted.The detachable interface 522 also includes a number of magnets 522 c.The detachable interface 522 may include a number of fittings 522 d. Thefittings 522 d may include a barbed portion onto which the actuatorchannels 520 may be coupled. As shown, the detachable interface 522 alsoincludes a base plate 522 e with a number of base plate holes 522 f.When assembled, the fittings 522 d may be coupled into the base plateholes 522 f. When assembled, the fittings 522 d may be fixedly coupledinto place by any suitable method, such as but not limited to, solventbonding, ultra-sonic welding, glue or other adhesive, etc. Someembodiments may also include a back iron 522 g for the magnets.

When the detachable interface 522 is attached to the housing 400,magnets in the housing 400 may attract the magnets 522 c in thedetachable interface 522 such that the detachable interface 522 ismagnetically and detachably coupled to the housing 400. Alternatively,the detachable interface 522 may be attracted to a ferromagnetic plateincluded on the housing 400. In such embodiments, the plate may be400-series stainless steel, however, in various other embodiments, theplate may be made from any material. The base plate holes 522 f may lineup with the outlets of the various channels of the manifold 518 (see,for example, FIG. 25). The base plate holes 522 f may include a featurewhich creates a seal between the base plate holes 522 f and the outletsof the various channels of the manifold 518 when subjected to thecompressive force generated by the magnetic coupling. Though theembodiment in FIG. 27 may support up to seven actuators 16, otherembodiments may include a different number of orifices 522 b, fittings522 d, and base plate holes 522 f to support any number of actuators 16.

FIG. 28 depicts an embodiment of a controller 1100 which may be usedwith a dynamic support apparatus 10. As shown, the controller 1100includes a housing 1102. The housing 1102 may be shaped and sized suchthat it may easily be attached to a support structure such as a portionof a wheelchair or placed into a holster. In some embodiments, at leasta portion of the housing 1102 (or holster) may include brackets,adhesive, hook and loop tape, etc. (none shown) which facilitateattachment of the controller 1100 to a support structure. The controllermay also include a processor.

The controller 1100 shown in FIG. 28 includes a control panel 1104 whichmay include a user interface for a dynamic support apparatus 10. Asshown, the control panel 1104 includes a number of buttons 1106. In someembodiments, only two buttons 1106 are shown, however, other embodimentsmay include a greater or lesser number of buttons 1106. The buttons 1106may be assigned any number of various functions. In some embodiments,the buttons 1106 may control which operational mode the controller 1100is operating under. The buttons 1106 may be used to actuate an actuator16. In some embodiments, the buttons 1100 may be used to select anactuator 16 or actuators 16 to be controlled. The buttons 1100 may alsobe used to navigate through and/or select information and settingsdisplayed on a graphic display 1108.

The control panel 1104 may also include a number of illuminatedindicators 1110. In various embodiments, the illuminated indicators 1110may be backlit by one or more LEDs. Though the embodiment depicts threeilluminated indicators 1110, other embodiments may include any suitablenumber of illuminated indicators 1110. The illuminated indicators 1110may be used to convey various operational states of the controller 1100.They may also be used to provide feedback or other information to auser. In some embodiments, the illuminated indicators 1110 may be usedto convey alarm states or other conditions of interest related to adynamic support apparatus 10.

A display 1108 is also present on the control panel 1104 of theexemplary controller 1100 shown in FIG. 28. The display 1108 may be usedto convey information to the user. In some embodiments, the display 1108may present a number of menus and options to a user which may berespectively navigated and selected to control the operation of adynamic support apparatus 10. The display 1108 may also be used toprogram operational modes for a dynamic support apparatus 10. Thedisplay 1108 may be any suitable variety of display. In someembodiments, the display 1108 may be a touch screen display. In suchembodiments, buttons 1106 may not be included and control of a dynamicsupport apparatus 10 may be conducted primarily through touch gestureson the touch screen.

The control panel 1104 of the controller 1100 also includes a speaker1112. The speaker 1112 may be used to provide auditory feedback or otherinformation to a user. In some embodiments, the speaker 1112 may createauditory noise in response to various user inputs such as button 1106presses. The speaker 1112 may also be used to provide an auditory alarmfor a dynamic support apparatus 10 in the event that an issue requiringattention of the user exists.

The controller 1100 shown in FIG. 28 includes a power button 1114. Thepower button 1114 may be used to turn the controller of a dynamicsupport apparatus 10 off or on. In some embodiments, the controller 506may include a pause button 1136. In some embodiments, the pause button1136 may be utilized to pause a pressure relief scheme. This may bedesirable/beneficial, for many reasons, including, but not limited to,when noise from a pneumatic component of a dynamic support apparatus 10may be disruptive or inconvenient. In some circumstances, such as duringconversation, a user may desire to pause the pressure relief regimen. Insome embodiments, the pause button 1136 may pause the pressure reliefscheme until a later user interaction with the controller, for example,a second depression of the pause button 1136. In some embodiments, thepressure relief scheme may only be suspended for a predetermined periodof time. Limiting a pause to a predetermined period of time may preventa user from forgetting that the relief scheme had been suspended. Insome embodiments, after the predetermined period has elapsed, thecontroller 506 may enter a minimally disruptive mode. In such a mode,the controller 506 may, for example, lengthen the period of time betweenrelief cycles or may otherwise alter its control logic to minimizedisruption.

In some embodiments, a user may utilize an interface to turn desiredfeatures on or off. In such embodiments, the interface may comprisecheckboxes, radio buttons, parameter fields, or other selectors/fields(or any combination thereof) which may be used to toggle features on oroff and/or set parameter values. In some embodiments, a user may selectnumerical values for certain features. For example, a user may define anumber of pressure relief cycles per a user defined period of time. Insome embodiments, some features may be under headings of other featuresor categories and/or be arranged in a hierarchy. In some embodiments,selecting one feature may enable user selection of a number ofsub-features. In some embodiments, features may be disabled depending onthe individual user's needs. For example, a seat transfer feature may bedisabled for a user recovering from a recent ulcer.

In some embodiments, a user may utilize a controller 506, on-boardinterface 523, external interface 524, detachable interface 522, orcombination thereof to manually initiate pressure relief as desired. Insome embodiments, a user may override automated pressure relief. In someembodiments, pressure relief may be entirely controlled by userintervention. In some embodiments, pressure relief may be entirelycontrolled by automatic processes. In some embodiments, pressure reliefmay be controlled by a combination of user intervention and automatedprocesses.

In some embodiments, a power port 1116 may be included. The power port1116 may allow a user to plug an external power source (not shown) intothe controller 1100 of a dynamic support apparatus 10. Such a powersource may be used to charge an on board power source of a controller1100. Additionally, in some embodiments, the controller 1100 may be rundirectly off of an external power source. A power indicator 1118 mayilluminate when an external power source is in communication with thecontroller 1100.

A serial port 1111 or communications port is also included in someembodiments. The serial port 1111 may be any suitable variety of serialport, for example USB, RS232, etc. The serial port 1111 may be used forcharging an on board power source or powering the controller. The serialport 1111 may also be used for interfacing with a computer, laptop orthe like. The serial port 1111 may be used to download data (e.g. logs)from the controller 1100. Additionally, the serial port 1111 may be usedduring programming of the controller 1100.

A number of tubing connectors 1120 are also accessible through thehousing of the controller 1100. Tubing (not shown) may be placed ontothe tubing connectors 1120 to connect the controller 1100 to othercomponents of a dynamic support apparatus 10. The controller 1100 maycontrol fluid flow through tubing connected to the controller 1100 viaan internal manifold associated with the tubing connectors 1120.

The housing 1102 of the controller 1100 may include various controlcircuitry and fluid system components for a dynamic support apparatus10. In some embodiments, a fluid pump may be housed in a controller1100. A manifold and valving for directing fluid flow may also beincluded. The control circuitry may be included on a PCB housed in acontroller 1100. Control circuitry may include any of a variety ofsensors (e.g. pressure, temperature, mass air flow), computer-readablememory, one or more microprocessor, etc. An on board power supply mayalso be included inside the housing 1102 of a controller 1100.

FIG. 29 depicts embodiments of a number of components which may beincluded in a controller 1100 such as that shown in FIG. 28. In otherembodiments, additional or different components may be included. Asshown, the embodiment in FIG. 29 includes a pump 500, manifold 518, anumber of valves 1122, and an onboard power source 1124. The pump 500 isin communication with the manifold 518 via tubing 1130. The pump 500 andvalves 1122 may draw power from the onboard power source 1124. In someembodiments, the onboard power source 1124 is a battery. The valves 1122may be actuated in a manner which allows them to direct fluid flowwithin the manifold 518. The valves 1122 shown in FIG. 29 are solenoidvalves. In other embodiments, any suitable type of valve may be used.

The manifold 518 shown in FIG. 29 includes a number of features. Asshown, the manifold 518 includes a number of standoffs 1126. A PCB (notshown) with the control circuitry for a controller 1100 (see, forexample, FIG. 28) may be coupled to the manifold 518 via fasteners whichcouple into the standoffs 1126. A number of sensor wells 1128 are alsoincluded in the manifold 518. The sensor wells 1128 may be in fluidcommunication with the interior passages of the manifold 518. As shown,the sensor wells 1128 also each include an o-ring. When assembled, theo-rings of the sensor wells 1128 may be compressed between the manifold518 and a PCB forming a fluid tight seal. This may allow sensors locatedon the PCB to sense various conditions within the manifold 518. Byorienting the o-ring around the sensors located on the PCB, thecompressed o-ring may provide a fluid tight seal. This seal may allowthe sensors to accurately measure manifold pressures. Sensor wells 1128and accompanying sensors may be included for any of the interiorpassages of the manifold 518. Such an on board pressure sensorarrangement is further described later in the specification.

It may be desirable to have some of the passageways of the manifold 518cut or recessed into one or more of the faces of the manifold 518. Thismay contribute to the making of a more compact or easily manufacturedmanifold 518. Such passageways may then be sealed from the surroundingenvironment such that fluid may be conducted through the manifold 518 ina desirable fashion. In some embodiments, the manifold 518 includes aplate 1132 which is coupled thereto to seal one such passageway of themanifold 518. In various embodiments, a plate 1132 may be coupled to themanifold 518 via any suitable means, including but not limited to sonicwelding, laser welding, solvent bonding, adhesive, etc.

The embodiment of the manifold 518 shown in FIG. 29 also includes asealing structure 1134 which surrounds the tubing connectors 1120. Asshown, the sealing structure 1134 is a stadium shaped projection.Recessed into the outer wall of the sealing structure 1134 is an o-ringgroove in which an o-ring may be disposed. Referring now also to FIG.28, when placed in a housing 1102, such an o-ring may create a fluidtight seal which prohibits fluid ingress into the interior volume of thehousing 1102. This may be useful to prevent spills, urine, etc. fromfouling the interior components of a controller 1100.

FIG. 30 depicts a representational, disassembled view of variouscomponents which may be included in a controller such as the controller1100 shown in FIG. 29. As shown, a manifold 518 and a main PCB 1125 aredepicted. Referring now also to FIG. 31, when assembled, fasteners 1127may pass through the main PCB 1125 and thread into the standoffs 1126included in the manifold 518.

There are a number of sensors 1131 located on the main PCB 1125. Thesesensors 1131 may be any type of sensor or sensors. In some embodiments,the sensors 1131 are pressure sensors. These sensors 1131 may bepositioned on the main PCB 1125 such that when the main PCB 1125 isattached to the manifold 518, the sensors 1131 may align with or aredisposed over holes or voids (see, for example the sensor wells 1128 inFIG. 29) in the manifold 518. These holes may be in communication withvarious fluid pathways or portions of the manifold 518.

As shown, the sensors 1131 may fit within the interior void of theo-rings 1129 depicted in FIGS. 30 and 31. When assembled, the o-rings1129 may become compressed between the main PCB 1125 and the manifold518. Thus a fluid tight seal may be created, isolating the sensors 1131from the surrounding environment. This may allow the sensors 1131 toaccurately measure conditions in the manifold 518. The standoffs 1126may be suitably sized to ensure that the o-rings 1129 will becomesufficiently compressed it create an adequate fluid tight seal. Such anon board pressure sensor arrangement may be an inexpensive and easilyassembled means of measuring pressures for a dynamic support apparatus10.

FIG. 32 depicts an embodiment of a manifold 518 in which the variousfluid pathways 1140 within the manifold 518 are shown. For the sake ofthis illustration, overlapping fluid pathways should be understood tolie in different planes of the manifold 518. Additionally, for sake ofillustration, the valves 1142 and the pump 500 are shownrepresentationally in FIG. 32. Arrows are included within the fluidpathways 1140 to delineate the path of fluid flow when the manifold 518and pump 500 are configured to deliver positive pressure to part of apneumatic system such as an actuator 16. Though the embodiment in FIG.32 depicts fluid being delivered to only a single actuator 16, it wouldbe apparent to one skilled in the art that fluid may be delivered tomultiple actuators 16 or different actuators 16 by energizing andde-energizing appropriate valves 1142.

FIG. 33 depicts an embodiment of a manifold 518 in which the variousfluid pathways 1140 within the manifold 518 are shown. For the sake ofthis illustration, overlapping fluid pathways should be understood tolie in different planes of the manifold 518. The valves 1142 of themanifold 518 and a pump 500 are also shown representationally in FIG.33. Arrows are included within the fluid pathways 1140 to delineate thepath of fluid flow when the manifold 518 and pump 500 are configured tovent another part of a pneumatic system such as an actuator 16. Thoughthe in FIG. 33 depicts fluid being vented from all actuators 16associated with the manifold 518, it would be apparent to one skilled inthe art that fluid may be vented from a selected actuator 16 oractuators 16 by energizing and de-energizing appropriate valves 1142.

FIG. 34 shows a pneumatic diagram for an embodiment of a dynamic supportapparatus 10. As shown, three actuators 16 are included in theembodiment shown in FIG. 34. A pump 500 is included. A pump 500 mayinclude a filter (not shown) to prevent debris or liquid such as urinefrom being drawn into the pump 500. As shown, the pump 500 uses theatmosphere as its fluid reservoir 502. In some embodiments, the pump 500may be a pump 500 capable of generating both positive and negativepressures. In the embodiment shown in FIG. 34 the pump 500 onlygenerates positive pressures. In some embodiments, the pump 500 may beassociated with one or more valve which allows the pump 500 to usedifferent volumes which the pump 500 is in communication with as areservoir. In some embodiments, a valve or valves may be configured toallow the pump 500 to draw fluid from an actuator 16 and pump this fluidto the atmosphere and vice versa. In some embodiments, the pump 500 mayonly be configured to displace fluid in one direction. Vavling may besupplied to allow both of the inlet and outlet to be connected to theatmosphere, for example. Depending on which port- the inlet or outlet-or the pump is connected to atmosphere, a vacuum or positive pressuremay be supplied. Any of a number of varieties of pumps 500 may be used.For example, the pump 500 may be a diaphragm pump or a rotary vane pump.

In alternate embodiments, a pump 500 may not be included. In suchembodiments, a high pressure source (not shown) may replace the pump500. The high pressure source (not shown) may, in some embodiments, be acanister of pressurized air or gas. The pressurized air or gas canistermay be removed and refilled after use. A manual pump such as a squeezebulb pump may be included in some embodiments. Additionally, someembodiments may include manual relief valves.

As shown in FIG. 34 the pump 500 is in fluid communication with amanifold 518. A pressure transducer 530 is included at the manifold 518to sense the pressure of fluid at the manifold 518. In otherembodiments, there may be multiple pressure transducers 530. In someembodiments, pressure transducers 530 may additionally be included oneach of the actuator channels 520. In such embodiments, pressures sensedin the pressure transducers 530 may be required to agree with each otherwithin a tolerance. If the pressure transducers 530 gather conflictingreadings, an alarm may be generated.

A number of valves 532 are also included in the pneumatic diagram shownin FIG. 34. The valves 532 may control fluid communication to theactuators 16. The valves 532 may be actuated by a controller 506. In thesome embodiments, the valves 532 may be actuated to allow fluid flowinto the actuators 16 or a selected actuator 16 to inflate the actuator16 or actuators 16. The valves 532 may also be actuated to allow fluidto exit the actuators 16 to be bled off back into the atmosphere asshown. In some embodiments, a vacuum may be applied to the actuators 16or a selected actuator 16 in order to fully deflate the actuators 16 oractuator 16. In some embodiments, a second pump (not shown) may beincluded to generate a vacuum.

In some embodiments, one or more over-pressure valve or relief valve(not shown) may be included in association with one or more actuator 16.Such an over-pressure valves may allow fluid to escape the actuators 16in the event that an excess of fluid or an undesirably high pressureexists within one of more of the actuators 16. Allowing such fluid toescape may increase comfort and aid in the prevention of pressureulceration.

FIG. 35 depicts a basic pneumatic diagram of a pneumatic systemincluding a single pump 500 capable of delivering fluid from a reservoir502 to a destination. As indicated, this destination may be a manifold518 (see, for example, FIG. 25) and various actuators 16 (see, forexample, FIG. 1) downstream from the manifold 518. As shown, the pump500 is only capable of drawing fluid from a reservoir 502 to its inlet1000 to create a positive pressure at its outlet 1002. It may, however,be desirable to also apply a vacuum to the destination. In someembodiments, this may be accomplished by a pump 500 capable ofgenerating both positive and negative pressures or by incorporation ofan additional pump (not shown). Both of these approaches tend toincrease cost and may increase the form factor of the overall pneumaticsystem.

Alternatively, and referring now to FIG. 36, it may therefore bedesirable to have the capability to swap which flow paths are connectedto the inlet 1000 and outlet 1002 of the pump 500. These flow paths areshown swapped from their position in FIG. 35 in the pneumatic diagramshown in FIG. 36. As shown, this may allow the pump 500 to use theactuators 16 as the reservoir 502 such that the pump 500 may apply avacuum to the actuators 16.

FIG. 37 depicts another pneumatic diagram. The pneumatic diagram in FIG.37 is configured such that the flow paths in communication with theinlet 1000 and outlet 1002 of the pump 500 may be swapped as detailedabove. In FIG. 37, this is accomplished through the use of two valves1004. The valves 1004 form the equivalent of a pneumatic H-bridge. Inthe specific implementation depicted in FIG. 37, the valves 1004 arethree port, two position valves. The position of the valves 1004 may bechanged in order to swap which flow path is in communication with theinlet 1000 and outlet 1002 of the pump 500. As shown, the valves 1004are actuated such that the reservoir 502 in FIG. 37 is the atmosphere.The valves 1004 may generally be driven together to avoid a situationwhere the inlet 1000 and outlet 1002 of the pump 500 are connected tothe same fluid path way. In some embodiments, it may be desirable todrive one valve 1004 briefly before the other to limit peak power drawor improve pneumatic performance.

In some embodiments, other valve 1004 arrangements may also be used. Insome embodiments, a single four port, two position valve may be used inplace of the two valves 1004 shown in FIG. 37. A single five port, twoposition valve may also be used in place of the two valves 1004 shown inFIG. 37. Any other suitable arrangement may also be used. The valvearrangement chosen for an embodiment may be dependent upon form factor,cost, and power concerns related to the pneumatic system.

Referring now to FIG. 38, another pneumatic diagram is shown. Thepneumatic diagram shown in FIG. 38 is similar to the pneumatic diagramshown in FIG. 37, however, it includes an added functionality. Thepneumatic diagram shown in FIG. 38, includes a bypass valve 1006 whichallows the manifold to be directly connected to the atmosphere. In someembodiments, the bypass valve 1006 is shown as a three port, twoposition valve. Other valve arrangements serving the same end may alsobe used. A bypass valve 1006 may allow a pneumatic system to save powerand extend the life of the pump 500. This may be so because, withoutusing a pump 500, a desired actuator 16 may be vented by letting theoccupant's weight drive a portion of the fluid out of the actuator 16.If needed, the valves 1004 may be positioned such that the pump 500 maythen be turned on to draw a vacuum.

The capability of connecting the manifold to the atmosphere may providean assortment of other advantages as well. If the manifold's pneumaticpressure is measured using an absolute pressure sensor, connecting themanifold to the atmosphere periodically allows the ambient pressure tobe measured using the same sensor thus making a dedicated ambient sensorunnecessary. Further, it may be desirable to have the ability to connectthe manifold to the atmosphere in a failsafe mode of the pneumaticsystem.

FIG. 39 depicts a pneumatic diagram. The pneumatic diagram shown in FIG.39 includes only a single rotary valve 1008. For purposes ofdescription, the rotary valve 1008 is described in relation to apneumatic system, however, in various embodiments, the valve may be usedin non-pneumatic systems such as hydraulic systems. Likewise, though thevalve 1008 is generally described in relation to a dynamic supportapparatus 10, the valve 1008 may be used in any number of other suitableapplications or systems requiring valves. The embodiments of the valve1008 and applications for the valve 1008 described herein are merelyexemplary and in no way limiting. Additionally, a plurality of suchvalves 1008 may be used for some applications and the valve 1008 may beincluded in a manifold 518 (FIG. 25) with any number of other valves.

The rotary valve 1008 depicted in FIG. 39 retains the functionalities ofother valve arrangements which use solenoids or other valves, however,may have a smaller form factor, reduced part count, and lower cost. Insome embodiments, the rotary valve 1008 depicted in FIG. 39 retains allof the functionalities of the valve arrangement in FIG. 38, however, hasa smaller form factor and lower cost. Moreover, such a valve may be madeto be multi-stable and thus lower valve related power demands ofpneumatic system.

As shown, the rotary valve 1008 depicted includes a number of valve flowpaths 1010. Each of the valve flow paths 1010 extend across the body1012 of the rotary valve 1008 transversely in the some embodiments. Soas not to be in communication with one another, the flow paths 1010 mayextend across the body 1012 of the rotary valve 1008 in more than onetransverse plane. As shown in some embodiments, the fluid ports 1014 foreach flow path 1010 may be disposed on the outer circumference of thebody 1012 of the valve 1008. In other embodiments, this need not be thecase. The fluid ports 1014 may be disposed at regular angular intervals.This may allow the rotary valve 1008 to be rotated a standard amount tomake and break connections with any of the flow paths 1010 of the rotaryvalve 1008. As is shown in FIG. 39, the fluid ports 1014 are locatedapproximately 45° from adjacent fluid ports 1014.

Referring now to the progression of FIGS. 40-43, the rotary valve 1008is shown in a number of rotational positions. In the embodiments shownin FIGS. 40-43, the fluid ports of the rotary valve 1008 areindividually assigned reference numbers 1-8. Each rotational position ofthe rotary valve 1008 places a different fluid port 1-8 in communicationwith the fixed pathways of the pneumatic system. Each of these positionsenables a specific functionality of the pneumatic system. For sake ofthis description, rotational stops of the rotary valve 1008 depicted inFIGS. 40-43 will be referred to by the fluid port number which islocated at the twelve o'clock position.

FIG. 40 depicts the rotary valve 1008 in position 1. In this position,the inlet 1000 of the pump 500 is in communication with the atmosphere.The outlet 1002 of the pump 500 is in communication with the manifold.This position of the rotary valve 1008 allows the pump 500 to generatepositive pressure at the manifold while drawing fluid from theatmosphere. This position may be used to inflate or provide fluid to adestination. The destination may, in some embodiments, be actuators 16(see, for example, FIG. 25) of a dynamic support apparatus 10 (see, forexample, FIG. 25).

FIG. 41 depicts the rotary valve 1008 rotated approximately 45°counterclockwise from its location in FIG. 40 into position 2. In thisposition, the inlet 1000 of the pump 500 is in communication with themanifold. The outlet 1002 of the pump 500 is in communication with theatmosphere. Rotating the rotary valve 1008 to position 2 allows the pump500 to draw a vacuum through the manifold. This position may be used todeflate or draw fluid from the destination. The destination may, in someembodiments, be actuators 16 (see, for example, FIG. 25) of a dynamicsupport apparatus 10 (see, for example, FIG. 25).

FIG. 42 depicts the rotary valve 1008 rotated approximately 45°counterclockwise from its location in FIG. 41 into position 3. In thisposition, the pump 500 is isolated from the manifold. Additionally, themanifold is directly connected to the atmosphere. Rotating the rotaryvalve 1008 to position 2 allows the rotary valve 1008 to act as a bypassvalve similar to the bypass valve 1006 depicted in FIG. 38. Thisposition may be used to deflate or bleed fluid from a destination. Thedestination may, in some embodiments, be actuators 16 (see, for example,FIG. 25) of a dynamic support apparatus 10 (see, for example, FIG. 25)without using the pump 500. It may also serve as a failsafe position orallow a pressure sensor in the manifold to measure ambient atmosphericpressure as described above.

FIG. 43 depicts the rotary valve 1008 rotated approximately 45°counterclockwise from its location in FIG. 42 into position 4. Position4 is pneumatically equivalent to position 2. As would be apparent to oneskilled in the art, positions 5-8 are also pneumatic equivalents of thevarious depicted rotary valve 1008 positions shown in FIGS. 40-43. Insome embodiments depicted, position 1 and position 5 are pneumaticallyequivalent, positions 2, 4, 6, and 8 are pneumatically equivalent, andposition 3 and position 7 are pneumatically equivalent.

Embodiments of the rotary valve 1008 depicted in FIGS. 40-43 places thefluid ports 1-8 in a sequential order that generally reflect thesequential order of the pneumatic arrangements which would be desirablefor a particular application of the valve. In some embodiments, thearrangement may be desirable when the valve 1008 is used to providefluid to a pneumatically controlled dynamic support apparatus 10 (see,for example, FIG. 25). Such an arrangement of fluid ports 1-8 ensuresthat any desired state is at most approximately a quarter rotation ofthe rotary valve 1008 from any other position. In some embodiments, itmay be desirable to have a greater or lesser number of rotary valve 1008positions which are equivalents of a particular pneumatic arrangement(e.g. a greater number of arrangements which supply positive pressure tothe manifold). This may, for example, be accomplished by installing thepump 500 into the pneumatic system such that its inlet 1000 and outlet1002 are reversed from what is shown in FIG. 40-43. Such an arrangementwould cause positions 2, 4, 6, and 8 to allow the pump 500 to supplypositive pressure to the manifold. Alternatively, the parts of thepneumatic system communicating with various fixed fluid pathways in thepneumatic system may also be swapped. In some embodiments, the manifoldand atmosphere may be swapped. Such an arrangement would again causepositions 2, 4, 6, and 8 to allow the pump 500 to supply positivepressure to the manifold. Additionally, the routing of the valve flowpaths 1010 may be altered to any suitable configuration. It should alsobe noted that a rotary valve 1008 may be rotated to an intermediaryposition, which may include a position between two adjacent fluid ports,so as to isolate the components of a pneumatic system from one another.

In some embodiments, a manifold may not be needed. In some embodiments,if there are not multiple destinations which are included in a pneumaticsystem, a rotary valve 1008 may be connected directly to thedestination. Additionally, in some embodiments, there may be multiplerotary valves 1008 which may each be connected directly to respectivedestinations. In such embodiments, the rotary valves 1008 themselves mayact as a manifold. In such embodiments, the rotary valves 1008 may berotated in a cooperative fashion to allow fluid to be communicated tothe various destinations as desired. For instance, when it is desired toprovide fluid to a single destination, the rotary valve 1008 associatedwith that destination may be rotated into the appropriate position. Therotary valves 1008 leading to other destinations in the system may berotated to an intermediary or isolated position while fluid is providedto the desired destination.

FIG. 44 depicts an embodiment of a rotary valve assembly 1020. Therotary valve assembly 1020 in FIG. 44 is shown in an exploded view. Therotary valve assembly 1020 includes a rotor 1022, stator 1024, and backplate 1026. The rotor 1022 and stator 1024 in some embodiments are discshaped. In alternate embodiments, the rotor 1022 and stator 1024 may beany suitable shape. In some embodiments, the rotor 1022 may be conical,while the stator 1024 may include a conical cavity therein. Whenassembled, the pieces of the rotary valve assembly 1020 may be heldtogether by a clamping force sufficient to prevent any fluid leakageduring operation.

As shown in FIG. 44, the top face 1030 of the rotor 1022 includes anumber of flow paths 1010. These flow paths 1010 allow fluid to passthrough the rotary valve assembly 1020. The flow paths 1010 may beselectively rotated into communication with a number of stator ports1034 which extend through the stator 1024. Each of the stator ports 1034may connect the rotary valve assembly 1020 to fluid pathways leading toother components of a pneumatic system (e.g. pump inlet, pump outlet,manifold, reservoir, etc.). In some embodiments the stator ports 1034extend through the stator 1022 in a direction which is substantiallyperpendicular to the plane of the disc-like stator 1022.

Referring now also to FIG. 45, the bottom face 1032 of the rotor 1022 isdepicted. The bottom face 1032 also includes a flow path 1010. The flowpath 1010 in the bottom face 1032 of the rotor 1022 includes twopass-throughs 1028 which are oriented substantially perpendicular to thetop face 1030 and bottom face 1032 of the rotor 1022. Thesepass-throughs 1028 allow the flow path 1010 in the bottom face 1032 ofthe rotor 1022 to be selectively rotated into communication with thevarious stator ports 1034 of the stator 1024. This may allow the flowpath 1010 in the bottom face 1032 of the rotor 1022 to conduct fluid toand from the other components of a pneumatic system.

The stator 1024 and back plate 1026 may be made from a material such asmetal, though any other suitable material may also be used. In someembodiments, the stator 1024 and the back plate 1026 may be identicalparts. This may increase ease of manufacturing for a rotary valveassembly 1020. In such embodiments, the back plate 1026 may, forexample, be clocked 45° with respect to the stator 1024. In someembodiments, the back plate 1026 is not identical to the stator 1024.

The rotor 1022 may be made from a material such as plastic, though anyother suitable material may also be used. In some specific embodiments,the rotor 1022 may be made from Delrin. In other embodiments, the rotor1022 may be made from a different material such as Rulon orpolytetrafluoroethylene. The materials selected for the rotor 1022,stator 1024, and back plate 1026 may be selected such that thecoefficient of friction between the moving parts of the rotary valveassembly 1020 is low. Additionally, in some embodiments, a surfacetreatment may be applied to the contacting surfaces of parts in therotary valve assembly 1020 in order to reduce friction between theparts. Other surface treatments, such as those that increase thedurability or corrosion resistance of the various parts may also beadvantageous.

Friction between the two parts may also be reduced by recessing variousportions of one or more mating surface in the rotary valve assembly1022. In some embodiments, areas of the top face 1030 of the rotor 1022where there are no flow paths 1010 in the vicinity may be recessed suchthat they contribute no friction. Alternatively or additionally, theflow paths 1010 may be enlarged such that the area of the top face 1030of the rotor 1032 which contacts the stator 1022 is reduced andtherefore contributes less friction. Any other friction reduction schemewhich would be obvious to one skilled in the art may also be used.

In some embodiments, one or more parts of the rotary valve assembly 1020may be stamped or water-jet cut to help minimize the cost of a rotaryvalve assembly 1020. A finishing process (e.g. lapping) may then be usedon these parts to ensure that the contact surfaces between the matingfaces of the valve assembly 1020 are flat and smooth.

FIG. 46 depicts an embodiment of a rotor 1022 which may be included in arotary valve assembly similar to the rotary valve assembly 1022 depictedin FIG. 44. As shown, the rotor 1022 in FIG. 46 includes a number offlow paths 1010. The rotor 1022 in FIG. 46 also includes pass-throughs1028 which allow all of the flow paths 1010 of the rotor 1022 to beaccessed via the same face of the rotor 1022. The rotor 1022 in FIG. 46includes a central through-hole 1040. A through-hole 1040 may extendthrough other portions of a rotary valve assembly 1020 as well. Athrough-hole 1040 may aid in assembly of a rotary valve assembly 1020 byallotting for a fastener to pass through the assembly and aid inclamping the assembly together. An embodiment using such a fastener isdepicted in FIGS. 50 and 51.

In some embodiments, a through-hole 1040 in the rotor 1022 may be keyed.This may allow a keyed shaft (not shown) to be inserted into thethrough-hole such that the rotor 1022 may be driven via the keyed shaft.The keyed shaft may be rotated by a motor. Some such embodiments may usea planetary gear head (not shown) to drive rotation of the keyed shaft.

FIG. 47 depicts an arrangement for imparting rotary motion to a rotor1022. As shown in FIG. 47 a motor 1050, which lies substantially in thesame plane as the rotor 1022, is included. The motor 1050 rotates ashaft 1052 which is coupled to a worm gear 1054. The worm gear 1054interdigitates with teeth 1056 disposed about the circumference of therotor 1022. As the motor 1050 rotates the worm gear 1054, this rotationis imparted to the rotor 1022 thus causing rotation of the rotor 1022.

The motor 1050 used could be any variety of suitable motor 1050. In someembodiments the motor 1050 may be a brushed DC motor, brushless DCmotor, or any variety of stepper motor. It may be desirable to use astepper motor because a stepper motor allows for deterministic motion ofthe motor (i.e. X pulses creates Y degrees of rotor 1022 movement). Someembodiments may include a rotary encoder (not shown) which may trackrotor 1022 rotation. Some embodiments may include a magnetic rotaryencoder which senses rotor rotation 1022 via the position of a magnetrotating with the rotor 1022. Other embodiments may include an opticalrotary encoder which may, for instance, optically count the gear teeth1056 of the rotor 1022 as they pass the field of view of the encoder.Other types of rotary encoders or suitable rotation sensing schemes mayalso be used. In some embodiments, a gray encoder may be built into therotor 1022. This could be accomplished by means of decal placed on asurface of the rotor 1022. In other embodiments, this may beaccomplished electrically with tracks on the rotor 1022. In suchembodiments, a thin PCB may also be included as a part of the rotaryvalve assembly 1020. One or more potentiometers may also be used totrack rotation of the rotor 1022. In such embodiments, the one or morepotentiometers may be keyed to a rotor shaft such that the wipers of thepotentiometers rotate, changing the measured resistance, as the rotor1022 shaft rotates. The measured resistance may then be used todetermine the rotational position of the rotor 1022.

FIG. 48 depicts an embodiment of a valve interface 1060. In someembodiments, the valve interface 1060 may double as a valve stator. Avalve interface 1060 may be used to interface a valve, such as any ofthe rotary valves or rotary valve assemblies described herein, to therest of a pneumatic system. The embodiment valve interface 1060 depictedin FIG. 48 may, in some embodiments, be used in conjunction with therotary valve assembly 1020 depicted in FIG. 44. As shown, the valveinterface 1060 includes a number of interface ports 1062. The interfaceports 1062 are each in communication with a respective interface fluidchannel 1064. The valve interface 1060 includes a number of connectionports 1066 which are also in communication with respective interfacefluid channels 1064. Tubing 1068 may be plumbed into the connectionports 1066 in order to connect various components of a pneumatic systemto the valve interface 1060. Such tubing 1068 may connect the valveinterface 1060 to components such as a pump, manifold, reservoir, etc.

When assembled, a stator such as the stator 1024 shown in FIG. 44, maybe joined to the valve interface 1060 such that the stator ports 1034(see FIG. 44) are in line with the interface ports 1062. In someembodiments, the valve interface 1060 may be clamped in with a valveassembly (best shown in FIG. 51). The valve interface 1060 may alsoinclude a planar or form-in-place gasket (planar gasket 1092 shown inFIG. 51) between the mating faces of the valve interface 1060 and thestator 1024. Thus, rotation of a rotor 1022 (see, for example, FIG. 44)of a valve assembly 1020 (see, for example, FIG. 44) which has beenjoined to a valve interface 1060 may allow various pneumaticarrangements to be broken and made.

FIG. 49 depicts an embodiment of a valve interface 1060. As shown, thevalve interface 1060 is similar to that shown in FIG. 48. The valveinterface 1060 shown in FIG. 49 includes a number of interface ports1062, interface fluid channels 1064, and connection ports 1066 all ofwhich serving the same function as those described in relation to FIG.48. Tubing 1068 is plumbed into the connection ports 1066 of the valveinterface 1060 in FIG. 49. A rotary valve assembly 1020 is shown inoutline form in place on the valve interface 1060 as well.

In contrast to FIG. 48, the connection ports 1066 in FIG. 49 are not alllocated on the same side of the valve interface 1060. In the specificembodiment shown in FIG. 49, the connection ports 1066 are in pairswhich are disposed 180° from one another. This may bedesirable/beneficial for many reasons, including, but not limited to,such an arrangement may allow for the tubing 1068 to be more easilyrouted for the pneumatic system. The connection ports 1066 may also bedisposed in any other suitable configuration.

FIG. 50 depicts an assembled embodiment of a valve interface 1060 androtary valve assembly 1020. As shown, the valve interface 1060 issimilar to the valve interface 1060 illustrated and described inrelation to FIG. 49. The rotary valve assembly 1020 is also similar toother rotary valve assemblies shown and described herein. The rotaryvalve assembly 1020 in FIG. 50 includes a rotor 1022 which has adiameter larger than the footprint of the valve interface 1060. Therotor 1022 also includes teeth 1056 which are disposed about itscircumference. In some embodiments, as depicted in FIG. 50, rotation maybe imparted to the rotor 1022 of the rotary valve assembly 1020 by meansof a number of stepper coils 1070 disposed around the rotor 1022. Byselectively energizing the stepper coils 1070 in a suitable sequence,the rotor 1022 may be made to rotate to a desired location. As mentionedabove, such an arrangement allows for deterministic motion of the rotor1022.

FIG. 51 depicts a cross-sectional view of the assembled embodiment ofthe valve interface 1060 and rotary valve assembly 1020 in FIG. 50 takenat line A-A. As shown, the rotary valve assembly 1022 and valveinterface 1060 are coupled together with a fastener 1080. In someembodiments, the fastener 1080 is a bolt, though other embodiments mayuse any other suitable type fasteners. The fastener 1080 couples therotary valve assembly 1022 and valve interface 1060 through athrough-hole 1040 which passes through the valve assembly 1022 and valveinterface 1060. In some embodiments, the portion of the through-hole1040 in the back plate 1026 of the rotary valve assembly 1040 isthreaded to accept a complimentarily threaded portion 1082 of thefastener 1080. To control the clamping force, a bias member 1086 mayalso be included. In the embodiment in FIG. 51, the bias member 1086 isa Belleville washer which is compressed between the head of the fastener1080 and the top face of the valve interface 1060. A planar gasket 1092is included between the valve interface 1060 and the rotary valveassembly 1020.

The mating faces of the rotor 1022 of the rotary valve assembly 1020have been formed such that they provide a minimal amount of frictionwhich needs to be overcome during rotation. In some embodiments the flowpath 1010 present on the bottom face of the rotor 1022 is enlarged suchthat unnecessary friction producing areas of the mating face aresubstantially minimized. Additionally, the top face of the rotor 1022includes recessed portions 1088. These recessed portions 1088 are not incontact with the stator 1024 and therefore do not create friction duringrotation. In some embodiments, the rotor 1022 of the rotary valveassembly 1020 may only be rotated in a direction which would cause anyfriction between the rotor 1022 and back plate 1026 to tend to drive theback plate 1026 in a direction in which it cinches up on the fastener1080.

As shown in FIG. 51, in some embodiments the rotor 1022 includes astepper rotor 1090 about its circumference. The stepper rotor 1090 maybe a separate piece mated to the rotor 1022 in some embodiments. In somecases, the stepper rotor 1090 may be a multiple piece rotor lamination.As shown in FIG. 50, stepper coils 1070 may be arrayed around thestepper rotor 1090 to drive rotation of the rotor 1022.

FIG. 52 depicts an embodiment of a valve interface 1060 and rotary valveassembly 1020. As shown, the valve interface 1060 is similar to thevalve interface 1060 illustrated and described in relation to FIG. 48.The rotary valve assembly 1020 is also similar to other rotary valveassemblies shown and described herein. The rotary valve assembly 1020 inFIG. 52 includes a rotor 1022 which has a diameter which is larger thanthe footprint of the valve interface 1060. The rotor 1022 also includesteeth 1056 which are disposed about its circumference. In the embodimentdepicted in FIG. 50, rotation may be imparted to the rotor 1022 of therotary valve assembly 1020 by means of a number of stepper coils 1070disposed around the rotor 1022. By selectively energizing the steppercoils 1070 in a suitable sequence, the rotor 1022 may be made to rotateto a desired location. As mentioned above, such an arrangement allowsfor deterministic motion of the rotor 1022.

FIG. 53 shows a pressure map chart generated from an embodiment of thepresent disclosure. The chart is only partially populated with pressuremaps such that it facilitates conceptual understanding. As shown, thecolumns of the chart correspond to various inflation pressures of theleft actuator 16 of the dynamic support apparatus 10. The far leftcolumn displays pressure maps where a vacuum was applied to the leftactuator 16. The second column from the left displays pressure mapswhere the inflation pressure of the left actuator 16 was 0 mmHg. Thesecond column from the right displays pressure maps taken where theinflation pressure of the left actuator 16 was 15 mmHg. The far rightcolumn displays pressure maps where the inflation pressure of the leftactuator 16 was 30 mmHg.

The rows of the chart correspond to various inflation pressures of theright actuator 16. The top row of the chart displays pressure maps wherea vacuum was drawn on the right actuator 16. The second row from the topdisplays pressure maps where the right actuator 16 was inflated to apressure of 0 mmHg. The second row from the bottom of the chart displayspressure maps where the right actuator 16 was inflated to a pressure of15 mmHg. The bottom row of the chart displays pressure maps where theright actuator 16 was inflated to a pressure of 30 mmHg.

The pressure maps shown depict the contact pressures of a sample humanbuttock and thighs against a dynamic support apparatus 10 which isfunctioning as a seat cushion for a wheelchair. In some embodiments, thedynamic support apparatus 10 includes two actuators 16 disposedsimilarly to those shown in FIG. 1. The pressure maps shown are isoplethmaps. Each isopleth of the pressure maps represents a particular contactpressure.

Map 800 depicts a pressure map where the right and left actuators 16were inflated to the same positive pressure of 15 mmHg. As shown thepressure distributions on the pressure map were substantially similar onboth the right and left side of the buttock. Three high pressure areasare visible. The highest pressure corresponds generally to the contactpoint of the sacrum on the dynamic support apparatus 10. Additionally,two high pressure areas are depicted which correspond generally tocontact points of the ischial tuberosities. As described above, highpressure areas such as these may become problematic over periods ofprolonged occupation. Such high pressure areas may make prolongedoccupation uncomfortable. Additionally, inhibited blood flow to highpressure areas such as those shown may foster the formation of pressuresores. For this reason, the actuators 16 may be inflated and deflated ina manner which may provide pressure relief to contact areas of theoccupant. This may stimulate perfusion to the area thus helping toprevent formation of pressure ulcers.

Map 802 depicts a pressure map taken when the inflation pressure of theleft actuator 16 was dropped to 0 mmHg while the inflation pressure ofthe right actuator 16 was increased to 30 mmHg. As shown, contactpressure, was consequentially substantially relieved from the left sideof the buttock. Contact pressure of the right side of the buttockincreased.

Contact pressure may be further relieved from the left side of thebuttock by applying a negative pressure to the left actuator 16 as shownin map 804 of FIG. 53. As mentioned above, this relief of the contactpressure shown in maps 802 and 804 may allow for relatively uninhibitedperfusion to take place in the relieved region. Contact pressure may berelieved from the left buttock for a period of time which allowssufficient perfusion to necessary areas in order to prevent theformation of decubitus ulcers in the region.

After such a period of relief, the pressures may, in some embodiments,be brought back to the pressures used to generate map 800. After aperiod of time, the right buttock may then undergo a relief period. Map806 depicts a contact pressure map taken where the pressure of the rightactuator 16 was dropped to 0 mmHg while the inflation pressure of theleft actuator 16 has been increased to 30 mmHg. Consequently, contactpressure was substantially relieved from the right side of the buttockand contact pressure of the left side of the buttock increasedmoderately.

Contact pressure may be further relieved from the right side of thebuttock by applying a negative pressure to the right actuator 16 asshown in map 808 of FIG. 53. Contact pressure may be relieved from theright buttock for a period of time to allow sufficient perfusion tonecessary areas in order to prevent the formation of pressure sores inthe region. This pattern may then repeat. Repetition of such a patternof shifting and relieving contact forces may help ensure no one area issubjected to conditions favoring the development of pressure ulcers fora hazardously long duration of time.

The above described relief pattern is only one of many embodiments ofrelief regimens which may be employed with the above described dynamicsupport apparatus 10 embodiments. Various relief patterns other than theembodiments of the pattern described above may be used to help inhibitthe formation of pressure sores. The pressures or sequence may differfrom embodiment to embodiment. The pressures or sequence may also differfrom user to user and be determined on an individual basis by a caregiver or other.

Additionally, pressure need not be adjusted on or solely on the basis ofelapsed time. For instance, the occupant may manually enter a voluntaryrelief mode by, in some embodiments, pushing a button 404 (see FIG. 26)on the onboard interface 523 of the controller 506 (see FIG. 25). Thecontroller 506 may, in some embodiments, also use sensor data todetermine whether or not to add or remove fluid to an actuator 16. Usersmay also be able to program in a customized relief pattern to be used bythe dynamic support apparatus 10. In still other embodiments, thepattern may not be a preprogrammed pattern. Instead, a dynamic supportapparatus may rely on an occupant or caretaker to manually adjustactuator pressures to provide pressure relief during occupation.

In some embodiments, the pressure relief periods may be based uponphysiological data from an occupant. Physiological data may be gatheredby a sensor which monitors perfusion such as a pulse oximeter. In suchembodiments, when it is sensed that perfusion has fallen below apredefined level or has been below such a level for a predeterminedperiod of time, a relief mode for that area may be initiated. Pressuremay then be reapplied after it has been determined sufficient perfusionhas occurred.

FIG. 54 depicts a flowchart detailing a number of steps which may beused to actuate actuators of a dynamic support apparatus in a pressurerelief mode or pattern. As mentioned, such a pattern may be used tocombat the formation of pressure sores and/or increase occupant comfort.The flowchart details a pressure relief pattern for a dynamic supportapparatus including only two actuators for sake of simplicity. As wouldbe appreciated by one of ordinary skill in the art, the steps called outin the flowchart depicted in FIG. 54 may be modified for use with adynamic support apparatus including a different number of actuators.Though the flowchart depicted in FIG. 54 and many other flowchartsdepicted herein use pressure set points for their relief pattern, othertypes of set points may be used to define a desired inflation level forany embodiments described herein. In some embodiments, a set point maybe an amount of fluid (e.g. mass or moles) communicated to or from anactuator. In such embodiments, a mass airflow sensor may monitor molesof air communicated into and out of the actuator. In other embodiments,a set point may be an actuator height set point. In such embodiments, asensor may monitor how distant a face of the actuator is from areference point inside the actuator. Any other suitable set point mayalso be used.

In step 600 a controller for a dynamic support apparatus may bring boththe first and second actuator to a first pressure. Bringing theactuators to a desired pressure may involve pumping air into or out ofthe first or second actuator with a pump. The controller may wait apredetermined amount of time in step 602 allowing actuators to remain atthe first pressure. In some embodiments, the controller may monitor thepressure in the first and second actuator to ensure it is within apredetermined range of the first pressure. If the pressure in the firstand second actuators falls outside of the predetermined range (e.g. dueto slow leakage of fluid filling the actuators over time), thecontroller may act to bring the pressure of the first and secondactuator back to the first pressure or within the predetermined range.In some embodiments, if attempts by the controller to bring the firstand/or second actuator to the first pressure fail (e.g. due to acompromised actuator), the controller may generate an error, alert,alarm, or enter a failsafe.

After the predetermined period of time has elapsed, the controller may,in step 604, bring the first actuator to a second pressure and bring thesecond actuator to a third pressure. The third pressure may be the sameas or differ from the first pressure. In some embodiments, the secondpressure may be a pressure lower than the first pressure and the thirdpressure may be a pressure higher than the first pressure. In suchembodiments, in step 604 the area of an occupant supported by the firstactuator may experience pressure relief while the area supported by thesecond actuator bears more of the load. The controller may wait apredetermined amount of time in step 606 allowing the first and secondactuator to respectively remain at the second and third pressures. Insome embodiments, the controller may monitor the pressure in the firstand second actuator to ensure it is within a predetermined range of therespective target pressures. If the pressure in the first and secondactuators falls outside of the predetermined range (e.g. due to slowleakage of fluid filling the actuators over time), the controller mayact to bring the pressure of the first and second actuator back to thetarget pressure or within the predetermined range of that pressure. Insome embodiments, if attempts by the controller to bring the firstand/or second actuator to the target pressure fail (e.g. due to acompromised actuator), the controller may generate an error, alert,alarm, or enter a failsafe.

After the predetermined period of time has elapsed, in step 608, thecontroller may bring the first and second actuators back to the firstpressure. The controller may wait a predetermined amount of time in step610 allowing actuators to remain at the first pressure. In someembodiments, the controller may monitor the pressure in the first andsecond actuator to ensure it is within a predetermined range of thefirst pressure. If the pressure in the first and second actuators fallsoutside of the predetermined range (e.g. due to slow leakage of fluidfilling the actuators over time), the controller may act to bring thepressure of the first and second actuator back to the first pressure orwithin the predetermined range. In some embodiments, if attempts by thecontroller to bring the first and/or second actuator to the firstpressure fail (e.g. due to a compromised actuator), the controller maygenerate an error, alert, alarm, or enter a failsafe.

After the predetermined period of time has elapsed, the controller may,in step 612, bring the first actuator to the third pressure and bringthe second actuator to the second pressure. As mentioned above, in someembodiments, the second pressure may be a pressure lower than the firstpressure and the third pressure may be a pressure higher than the firstpressure. In such embodiments, in step 612 the area of an occupantsupported by the second actuator may experience pressure relief whilethe area supported by the first actuator bears more of the load. Thecontroller may wait a predetermined amount of time in step 614 allowingthe first and second actuator to respectively remain at the third andsecond pressures. In some embodiments, the controller may monitor thepressure in the first and second actuator to ensure it is within apredetermined range of the respective target pressures. If the pressurein the first and second actuators falls outside of the predeterminedrange (e.g. due to slow leakage of fluid filling the actuators overtime), the controller may act to bring the pressure of the first andsecond actuator back to the target pressure or within the predeterminedrange of that pressure. In some embodiments, if attempts by thecontroller to bring the first and/or second actuator to the targetpressure fail (e.g. due to a compromised actuator), the controller maygenerate an error, alert, alarm, or enter a failsafe.

In some embodiments, and as shown in FIG. 54, the process may thenreturn back to step 600 and repeat. Thus the controller may performpressure relief cycles to help prevent the formation of decubitus ulcersand/or increase occupant comfort. As mentioned above, other pressurerelief patterns or schemes may also be used. Various embodiments may notuse time based pressure adjustment. Some embodiments may be manuallyadjusted or allow for manual adjustment. Some embodiments may also beadjusted based on physiological data from an occupant.

FIG. 55 depicts another flowchart detailing a number of steps which maybe used to actuate actuators of a dynamic support apparatus in apressure relief mode or pattern in various embodiments. As mentioned,such a pattern may be used to combat the formation of pressure soresand/or increase occupant comfort. The flowchart details a pressurerelief pattern for a dynamic support apparatus including only twoactuators for sake of simplicity. As would be appreciated by one ofordinary skill in the art, the steps called out in the flowchartdepicted in FIG. 55 may be modified for use with a dynamic supportapparatus including a different number of actuators. Though theflowchart uses pressure set points, as described above, any othersuitable type of set point may also be used in various embodiments.

In step 620 a controller for a dynamic support apparatus may bring boththe first and second actuator to a first pressure. Bringing theactuators to a desired pressure may involve pumping air into or out ofthe first or second actuator with a pump. In FIG. 55, a pump is onlyused in order to increase the pressure in an actuator. To decreasepressure in an actuator, the controller may open a valve putting theinterior volume of the actuator in communication with the atmosphere andallow fluid within the interior volume of the actuator to be bled out.This may be more efficient from a power consumption standpoint becauselowering pressure in the actuators is accomplished passively. That is,the weight of the occupant may drive fluid out of the actuator insteadof an actively powered pump.

The controller may wait a predetermined amount of time in step 622allowing actuators to remain at the first pressure. In some embodiments,the controller may monitor the pressure in the first and second actuatorto ensure it is within a predetermined range of the first pressure. Ifthe pressure in the first and second actuators falls outside of thepredetermined range (e.g. due to slow leakage of fluid filling theactuators over time), the controller may act to bring the pressure ofthe first and second actuator back to the first pressure or within thepredetermined range. In some embodiments, if attempts by the controllerto bring the first and/or second actuator to the first pressure fail(e.g. due to a compromised actuator), the controller may generate anerror, alert, alarm, or enter a failsafe.

After the predetermined period of time has elapsed, the controller mayproceed to steps 624 and 626. These steps may be performed insimultaneous manner or at points temporally close to one another. Inother embodiments, steps 624 and 626 may be performed in a more spacedtemporal relation to one another. In step 624, the controller may allowfluid to be bled from the first actuator. As mentioned above, this mayinvolve opening a valve which puts the interior volume of the firstactuator into communication with the atmosphere. In step 626, thecontroller may bring the second actuator to a second pressure. Afterthese steps have been performed, the area of an occupant supported bythe first actuator may experience pressure relief (after sufficientfluid has been bled out of the actuator) while the area supported by thesecond actuator bears more of the load. The controller may wait apredetermined amount of time in step 628 allowing the first actuator toremain in communication with the atmosphere and for the second actuatorto remain at the second pressure. In some embodiments, the controllermay monitor the pressure in the second actuator to ensure it is within apredetermined range of the target pressure. If the pressure in thesecond actuators falls outside of the predetermined range (e.g. due toslow leakage of fluid filling the actuators over time), the controllermay act to bring the pressure of the second actuator back to the targetpressure or within the predetermined range of that pressure. Thecontroller may also monitor to ensure that the pressure decays in thefirst actuator to indicate that fluid in the actuator is indeed beingbled out from the actuator. In some embodiments, if attempts by thecontroller to bring the second actuator to the target pressure fail(e.g. due to a compromised actuator), the controller may generate anerror, alert, alarm, or enter a failsafe. Additionally, if pressuredecay is not observed in the first actuator, the controller may behavesimilarly.

After the predetermined period of time has elapsed the controller mayproceed to steps 630 and 632. These steps may be performed insimultaneous manner or at points temporally close to one another. Inother embodiments, steps 630 and 632 may be performed in a more spacedtemporal relation to one another. In step 630, the controller may bringthe first actuator to the second pressure. In step 632, the controllermay allow fluid to be bled from the second actuator. As mentioned above,this may involve opening a valve which puts the interior volume of thesecond actuator into communication with the atmosphere. After thesesteps have been performed, the area of an occupant supported by thesecond actuator may experience pressure relief (after sufficient fluidhas been bled out of the actuator) while the area supported by the firstactuator bears more of the load. The controller may wait a predeterminedamount of time in step 634 allowing the second actuator to remain incommunication with the atmosphere and for the first actuator to remainat the second pressure. In some embodiments, the controller may monitorthe pressure in the first actuator to ensure it is within apredetermined range of the target pressure. If the pressure in the firstactuators falls outside of the predetermined range (e.g. due to slowleakage of fluid filling the actuators over time), the controller mayact to bring the pressure of the first actuator back to the targetpressure or within the predetermined range of that pressure. Thecontroller may also monitor to ensure that the pressure decays in thesecond actuator to indicate that fluid in the actuator is indeed beingbled out from the actuator. In some embodiments, if attempts by thecontroller to bring the first actuator to the target pressure fail (e.g.due to a compromised actuator), the controller may generate an error,alert, alarm, or enter a failsafe. Additionally, if a pressure decay isnot observed in the second actuator, the controller may behavesimilarly.

In some embodiments, and as shown in FIG. 55, the process may thenreturn back to step 620 and repeat. Thus the controller may performpressure relief cycles to help prevent the formation of decubitus ulcersand/or increase occupant comfort. As mentioned above, other pressurerelief patterns or schemes may also be used. Various embodiments may notuse time based pressure adjustment. Some embodiments may be manuallyadjusted or allow for manual adjustment. Some embodiments may also beadjusted based on physiological data from an occupant.

FIG. 56 depicts a flowchart detailing a number of steps which may beused by a dynamic support apparatus to determine if it is occupied andbegin a relief regimen. As shown, in step 1200 the controller of thedynamic support apparatus may analyze data from one or more sensors.These sensors may, in some embodiments, be pressure sensors orbladder/actuator height sensors. Other varieties of sensors may also beused. Using the pressure sensors, the controller may monitor for apressure increase which would be indicative of a user sitting down tooccupy the dynamic support apparatus.

In some embodiments, in step 1200, the controller may compare sensordata to previously gathered sensor data in order to determine thedynamic support apparatus is occupied. Additionally, in someembodiments, the controller may compare data from a number of differentsensors included in a dynamic support apparatus. In some embodiments,the controller may compare data from a pressure sensor associated witheach actuator in a dynamic support apparatus. This may help to ensurethat an occupant is fully seated in a dynamic support apparatus and mayalso serve as a cross check for sensor functionality.

In the event that the sensor data analyzed in step 1200 does notindicate that a dynamic support apparatus is occupied, a predeterminedwait period may elapse in step 1202. After this predetermined waitperiod elapses, the controller may return to step 1200 and analyze newsensor data. Upon determination that the seat is occupied, thecontroller may proceed to both of steps 1204 and 1206 in someembodiments. In alternative embodiments, the controller may wait apredetermine period of time and analyze new sensor data. The controllermay then check to ensure that the sensor data is still indicative thatthe dynamic support apparatus is occupied. This may help to ensure thatthe user is fully situated before proceeding to later steps.

In step 1204, the controller may enter a maintenance state. In themaintenance state, the controller may periodically replace any fluidwhich leaks out of actuators in a dynamic support apparatus. This mayinvolve, in some embodiments, taking pressure readings of the actuatorson a predetermined schedule and pumping in fluid as is necessary tomaintain a predetermined pressure set point.

In step 1206, the controller may prompt the user to initiate a reliefregimen. This prompt may be visual, auditory, tactile, or a combinationthereof. In one specific embodiment, the controller may beep, lightingone or more indicator light, and/or display a prompt asking if the userwould like to being a pressure relief regimen. In step 1208, a user mayindicate their desire to begin a pressure relief regimen. This mayinvolve a button press, touch gesture on a touch screen, or the like. Inembodiments where multiple pressure relief regimens are stored by thecontroller, there may be an additional step in which the user selectswhich pressure relief regimen that they would like to initiate. In step1210, the controller may start the relief regimen.

In an alternative embodiment, steps 1204, 1206, and 1208 may not beincluded. Instead, in such embodiments, the controller may automaticallyproceed to step 1210 upon determination that a dynamic support apparatushas been occupied by the user.

FIG. 57 depicts a flowchart detailing a number of steps which may beused by a dynamic support apparatus to determine if it is unoccupied andpower down. The flowchart depicted may begin after a pressure reliefregimen has been initiated. As shown, in step 1220 the controller of thedynamic support apparatus may analyze data from one or more sensors. Invarious embodiments, these sensors may be any of the sensors describedherein. Using the example of pressure sensors, the controller maymonitor for a pressure decrease which would be indicative of a usergetting out of the dynamic support apparatus. For example, thecontroller may monitor for a sudden and sustained pressure drop in allactuators. In some embodiments, analyzing sensor data may includecomparing sensor data to previously gathered sensor data in order todetermine the dynamic support apparatus is unoccupied. Additionally, insome embodiments, the controller may compare data from a number ofdifferent sensors included in a dynamic support apparatus. This may helpto ensure that an occupant is fully out of a dynamic support apparatusand may also serve as a cross check for sensor functionality.

In the event that the sensor data analyzed in step 1220 does notindicate that a user has exited the dynamic support apparatus, apredetermined wait period may elapse in step 1222. After thispredetermined wait period elapses, the controller may return to step1220 and analyze new sensor data. Upon determination that the seat isunoccupied, the controller may proceed to both of steps 1224 and 1226 insome embodiments. In alternative embodiments, the controller may wait apredetermine period of time and analyze new sensor data. The controllermay then check to ensure that the sensor data is still indicative thatthe dynamic support apparatus is empty. This may help to ensure that theuser is fully out of the dynamic support apparatus before proceeding tolater steps.

In step 1224, the controller may enter a maintenance state. In themaintenance state, the controller may periodically replace any fluidwhich leaks out of actuators in a dynamic support apparatus. This mayinvolve, in some embodiments, taking pressure readings of the actuatorson a predetermined schedule and pumping in fluid as is necessary tomaintain a predetermined pressure set point. This may be useful inprolonging battery life as the device.

In step 1226, the controller may prompt the user to turn off the dynamicsupport apparatus. This prompt may be visual, auditory, tactile, or acombination thereof. In one specific embodiment, the controller maybeep, light one or more indicator light, and/or display a prompt askingif the user would like to power down the dynamic support apparatus. Instep 1228, a user may indicate their desire to power down the device.This may involve a button press, touch gesture on a touch screen, or thelike. In some embodiments, the user may have the option of also puttingthe dynamic support apparatus into a sleep state. This may be desirablein the event that the user will be using the dynamic support apparatusagain shortly as it may decrease start up time.

In step 1230, the controller may power down. In an alternativeembodiment, steps 1224, 1226, and 1228 may not be included. Instead, insuch embodiments, the controller may automatically proceed to step 1230upon determination that a dynamic support apparatus is empty orotherwise idle.

FIG. 58 depicts a flowchart which includes a number of steps which maybe used to enter a transfer mode in a dynamic support apparatus. In atransfer mode, the actuators of the dynamic support apparatus may beinflated so as to help lift an occupant out of the dynamic supportapparatus. This may make it easier for a user or caretaker to transferan occupant out of a dynamic support apparatus as the dynamic supportapparatus will perform some of the vertical lifting required to transferthe occupant out of the dynamic support apparatus.

As shown, in step 1240 a user may indicate a desire to enter a transfermode. This may involve a button press, touch gesture on a touch screen,or the like. In some embodiments, this may require a number of differentuser interactions with a controller. A user may, in some embodiments,need to navigate through a number of menus to reach transfer modeoption. A user may need to press a sequence of buttons or a number ofbuttons simultaneously. In some embodiments, step 1240 may only becompleted after a user enters an intermediary mode. This may help toensure that such a mode is not activated accidentally.

After completion of step 1240, in step 1242 the dynamic supportapparatus may prompt a user to confirm that they would like to enter thetransfer mode. Such a prompt may be visual, auditory, tactile, or acombination thereof. In one specific embodiment, the controller maybeep, light one or more indicator light, and/or display a prompt askingif the user would like to enter the transfer mode. A user may providesuitable confirmation in step 1244. In the event that the user does notconfirm (e.g. time out or indicates they do not desire to enter transfermode) the controller may revert to the mode it was in prior to step1240.

Once a user has confirmed that they would like to enter transfer mode instep 1244, the controller may inflate the actuators of the dynamicsupport apparatus in step 1246. In some embodiments, the controller mayinflate the actuators of the dynamic support apparatus to the point ofturgidity. This may help to lift a user out of a well or depressionsubstantially obviating the need for a user or caretaker to lift theuser vertically out of the well. The user may then exit or transfer outof the dynamic support apparatus in step 1248. As the user has alreadybeen lifted vertically by the actuators in step 1246, the user maysubstantially only need to move laterally out of the dynamic supportapparatus in step 1248. This may make transferring out of a dynamicsupport apparatus easier.

After the user has transferred out of the dynamic support apparatus, theuser may indicate a desire to power down the dynamic support apparatusin step 1250. The dynamic support apparatus may then power down in step1252.

FIG. 59 depicts a flowchart detailing a number of steps which may beused by a dynamic support apparatus to determine a dynamic loadingcondition exists and enter a dynamic loading mode. The flowchart shownin FIG. 59 may begin after the dynamic support apparatus begins a reliefregimen. As shown, in step 1260 the controller of the dynamic supportapparatus may analyze data from one or more sensors. These sensors may,in various embodiments, be any suitable sensors of the sensors describedherein. Using the example of pressure sensors, the controller maymonitor for a pressure trend which would be indicative of a dynamicloading condition. Such a condition may, for example, be created as auser rides over uneven surfaces and is jostled about causing pressure inthe actuator to spike and fall. In some embodiments, the controller maycompare data from a number of different sensors included in a dynamicsupport apparatus. This may help to increase the accuracy of anydetermination and may also serve as a cross check for sensorfunctionality.

In the event that the sensor data analyzed in step 1260 does notindicate that a dynamic loading condition is present, a predeterminedwait period may elapse in step 1262. After this predetermined waitperiod elapses, the controller may return to step 1260 and analyze newsensor data. Upon determination that a dynamic loading condition existsthe controller may proceed to step 1264. In alternative embodiments, thecontroller may wait a predetermine period of time and analyze new sensordata. The controller may then check to ensure that the sensor data isstill indicative that the dynamic loading condition exists. This mayhelp to ensure that the controller does not proceed to step 1264 forshort-lived dynamic loading scenarios.

In step 1264, the controller may prompt a user to indicate if they wouldlike to turn on a dynamic loading mode. This prompt may be visual,auditory, tactile, or a combination thereof. In one specific embodiment,the controller may beep, light one or more indicator light, and/ordisplay a prompt asking if the user would like to turn on a dynamicloading mode. In step 1266, a user may indicate their desire to enter adynamic loading mode. This may involve a button press, touch gesture ona touch screen, or the like. The device may then enter the dynamicloading mode in step 1268.

Since a user may be jostled about during a dynamic loading scenario,perfusion in contacting tissues may be stimulated. Such a mode mayexploit this by minimizing pump runtime and controller usage to helpconserve battery. In some embodiments, a dynamic loading mode may be amode in which the frequency of relief cycles or duration between stepsof a relief cycle is extended in some embodiments. In other embodiments,a dynamic loading mode may be similar to the maintenance mode describedabove.

FIG. 60 depicts a flowchart detailing a number of steps which may beused by a dynamic support apparatus to control pausing of noisycomponents of such an apparatus. Such components may in variousembodiments include pneumatic components of such an apparatus that maymaking puffing or hissing noises which may be disruptive during variousactivities (e.g. during a conversation). As shown, the flowchart in FIG.60 begins after a user has started a relief regimen.

In step 1280, a user may indicate a desire to pause a relief regimen.This may involve a button press, touch gesture on a touch screen, or thelike. In some embodiments, a user may pause during other modes of thedynamic support apparatus, such as during a maintenance mode. After auser has performed step 1280, the controller may check to see that apredetermined allotted amount of pause time has not been exceeded. Insome embodiments, the allotted pause time may be a predetermined amountor proportion of a predetermined preceding window of time. In the eventthat the allotted pause time has been exceeded, the dynamic supportapparatus may notify the user in step 1282. Alternatively, the dynamicsupport apparatus may enter a minimally disruptive mode which stillconducts relief cycles but minimizes disruption (e.g. by increasing timebetween cycles or steps of cycles).

In the event that the allotted pause time has not been exceeded, thedynamic support apparatus may prompt the user to confirm that they wouldlike to pause in step 1284. This prompt may be visual, auditory,tactile, or a combination thereof. In one specific embodiment, thecontroller may beep, light one or more indicator light, and/or display aprompt asking if the user would like to pause. In step 1268, the usermay confirm that they would like to pause.

After a user completes step 1268, the dynamic support apparatus mayproceed to both step 1228 and 1290. In step 1288, the controller maypause or suspend the pressure relief regimen or other dynamic supportapparatus mode. In step 1290 the controller may begin a pause timer.

If the dynamic support apparatus remains paused for more than apredetermined period of time, steps 1292 and 1294 may be performed. Thepredetermined time may be a predetermined allowable period for a singlepause. In some embodiments, the predetermined period of time may be thesame as the predetermined period of time checked after step 1280. Insome embodiments, the controller may use the shortest of a number ofpause time constraints. In some embodiments, the controller may trackthe amount of pause time over a preceding time window and the amount oftime paused during the current pause. When a predetermined limit foreither is reached, the controller may perform steps 1292 and 1294.

In step 1292, the controller may notify the user that the predeterminedperiod of pause time has elapsed. In step 1294, the controller mayresume the pressure relief regimen. As above, the device may enter aminimally disruptive mode in place of step 1294 in some embodiments.

Before the predetermined period of time has elapsed, a user may performstep 1296. In step 1296, the user may indicate that they would likeresume a relief regimen. After completion of step 1296, the controllermay proceed to both steps 1294 and 1298. As mentioned, in step 1294, therelief regimen may be resumed by the dynamic support apparatus. In step1298, the controller may update a pause time counter. This pause timecounter may in some embodiments be the pause time counter which ischecked after step 1280.

Referring now to FIGS. 61-63, in some embodiments the dynamic supportapparatus, may be remotely configured and controlled using a remoteinterface 1300, 1400. When used herein, the term remote interface mayrefer to any embodiment of a remote interface. A remote interface may beany type of device that is capable of interaction with another device,which may include, but is not limited to, in some embodiments, by way ofwireless and/or remote communication. This communication need not bedirect. In some embodiments there may be an intermediary component ordevice which acts as a gateway or relaying component between a remoteinterface and a device. Additionally, in some embodiments, a device maybe configured to be capable of interaction with a number of differentremote interfaces. A remote interface may be or may be included as afunctionality of, but not limited to, a personal computer, laptop orother portable computer, pda, smartphone, tablet, dedicated remotecontroller, or the like. Additionally, while some embodiments describedherein may be more suitable for particular varieties of remoteinterfaces, it would be understood by one skilled in the art that suchembodiments may be adapted and optimized for use with other varieties ofremote interface without departure from the spirit of the disclosure.Likewise, it would be understood by one skilled in the art that thevarious remote interface screens shown herein may be adapted oroptimized for use on an on-board interface for a device such as adynamic support apparatus.

Two embodiments of remote interfaces are shown in FIGS. 61-63. A remoteinterface 1300, 1400 may be used to control all, or a portion of, thefunctionality of a device, which, in some embodiments, may be a dynamicsupport apparatus such as any of those described herein. In someembodiments a dynamic support apparatus may be configured using a remoteinterface 1300, 1400. In these embodiments, the dynamic supportapparatus may include communications circuitry (not shown) that allowsfor communication (e.g., wired or wireless) between the dynamic supportapparatus or a controller of the dynamic support apparatus and theremote interface 1300, 1400. Thus, the remote interface 1300, 1400 maybe able to remotely control a dynamic support apparatus. Additionally,in some embodiments, the remote interface 1300, 1400 may be able toconfigure a dynamic support apparatus. In a specific embodiment of thepresent disclosure, a non-limiting list of possible configurableparameters is shown in Table 1 as follows:

Parameter 1 Miscellaneous Settings 1.1 Screen Brightness 1.2 ScreenDimming 1.3 Audio Volume 1.4 Alert Volume 1.5 Alarm Volume 1.6 AudioFeedback for Button Presses 1.7 Vibration On/Off 1.8 Set Units ofMeasure 1.9 Disable/enable Modes or Functionalities 1.10 Frequency ofPressure Checks in Maintenance State 1.11 Presentation Type for ViewRegimen 1.12 Client/Occupant/User ID 1.13 Free Text Notes 2 ConfigureRegimen 2.1 Number of Steps Per Cycle 2.2 Step Duration 2.3 Number ofActuators 2.4 Actuator Pressure Set Point(s) 2.5 Number of Cycles PerHour 2.6 Time Waited Between Cycles 2.7 Time Waited Between Steps 2.8Passive or Active Deflate 2.9 Schedule Regimen? 2.9a Days of Week forScheduled Regimen 2.9b Start Time for Scheduled Regimen 2.9c End Timefor Scheduled Regimen 2.10 Require Passcode Before Beginning orSuspending 2.11 Require Extra Confirmation Before Beginning orSuspending 2.12 Channel/Port Name/Descriptor 2.13 Enable/DisableAcutator Channel 2.14 Actuator Type 2.15 Actuator Location 2.16 Order ofStep or Inflation 2.17 Client/Dynamic Support Apparatus Type 2.18 RepeatInterval/Cycle Duration 2.19 Step Start Time 2.20 Step End Time 2.21Copy Regimen/Save Regimen as Template 2.22 Allow Manual PressureAdjustment During Relief Regimen 2.23 Swap Settings Between Two Channels3 Limits 3.1 Maximum Pause Length for Individual Pause 3.2 “X” PauseTime Alloted for “Y” Length Time Window 3.3 Set Point (e.g. Pressure)High Limit 3.4 Set Point (e.g. Pressure) Low Limit 3.5 Time WaitedBetween Cycles Limit 3.6 Time Waited Between Steps Limit 3.7 StepDuration Limit 3.8 Cycle Duration Limit

The remote interface 1300, 1400 may in some embodiments include adisplay assembly 1302, 1402, any of a variety of other outputassemblies, at least one input assembly, and communications circuitry(not shown). The at least one input assembly may include, but is notlimited to, one or more of the following: an input control device suchas jog wheel 1306, slider assembly 1310, touch screen, buttons/switches1304, or another conventional mode for input into a device. Inembodiments having a jog wheel 1306, the jog wheel 1306 may include awheel, ring, knob, ball, or the like, that may be coupled to a rotaryencoder, or other rotation sensor, for providing a control signal basedupon, at least in part, movement of the wheel, ring, knob, or the like.In embodiments including a slider 1310, the slider 1310 may be a touchsensitive, capacitive slider. A slider 1310 may be vertically oriented(as shown), horizontal, arcuate, circular, ovoid, etc. In otherembodiments, a touch sensitive pad may be used in place of or inaddition to a slider 1310.

In some embodiments, the remote interface may include a touch screen.The touch screen may be any suitable variety of touch screen (e.g. acapacitive touch screen). In some exemplary embodiments, as depicted inFIGS. 62 and 63, the display assembly 1402 may be a touch screen and mayinclude one or more icons or touch sensitive buttons 1406, 1410 assignedto functionalities of the remote interface 1400. In some embodiments,one or more of the icons 1406, 1410 may relate to launching applicationsconfigured to communicate with a device such as the dynamic supportapparatus. In some embodiments, one or more icons 1406 may indicate oneor more device(s) which may be controlled via the remote interface. Asshown in FIG. 62, in some embodiments, one or more icon 1406 may beassigned to specific individual device applications. For example, anicon 1406 may be assigned to a device controller application, whileanother may be assigned to a device configuration application, yetanother may be assigned to a device user manual application, and so on.Various applications may be opened by a user in response to user input.In the embodiment in FIG. 62, this input may be a touch gesture on thetouch screen.

In various embodiments, less than or more than three icons 1406 may beincluded on the remote interface 1400. Additionally, in someembodiments, certain icons or functionalities may not be included forcertain users. In some embodiments, an occupant may only be able tolaunch a device controller application and view the device manual. Atechnician or clinician may be able to launch a device configurationapplication.

In some embodiments, the remote interface 1400 may be a dedicated remoteinterface. That is, the remote interface 1400 may solely serve as aremote interface for a device such as a dynamic support apparatus. Insome embodiments, however, a remote interface 1400 may be anon-dedicated component. In the embodiment in FIG. 62, the remoteinterface 1400 includes icons 1410 for launching applications related toadditional, non-device related, functionalities of the remote interface1400. In some embodiments, the remote interface 1400 may have anemergency or help functionality. Such a functionality may be used toconnect a user to a caregiver or inform a caregiver that the userrequires some sort of help or aid. In some embodiments, these additionalfunctionalities may include, but are not limited to, launching a webbrowser, launching a cell phone or mobile phone functionality and/orlaunching an audio player or other media player functionality.

In some embodiments, it may be desirable for the user to interact withthe remote interface 1400 to “launch” various functions and/orapplications of the remote interface 1400. In some embodiments,non-device related functionalities may be dormant and/or may “sleep”until and unless launched. This may be desirable for many reasons,including, but not limited to, extending the battery life, preventingdistraction, and/or optimizing performance. In some embodiments, theremote interface 1400 may indicate that an “application” is “minimized”or “hidden” on the display 1402, but application still running oractive. In some embodiments, once a device is paired or associated withthe remote interface 1400, an application may be automatically launched.Thus, in some embodiments, launching of applications related to a deviceusing an icon 1406 may not be necessary and may instead be automaticonce the remote interface 1400 is paired with the device.

Referring to FIG. 63, in some embodiments, a remote interface 1400 mayinclude various buttons on the display assembly that may be used tocontrol behavior of a device such as a dynamic support apparatus. Such ascreen may, for example, be navigated to by selecting or tapping one ofthe icons 1406 shown in FIG. 62. In the embodiments shown in FIG. 63, anumber of user selectable modes 1500A-F appear as buttons on thedisplay. These modes may identify specific device behaviors. In someembodiments, a pause button 1500 f is shown in addition to buttons forModes A-E 1500A-E. In some embodiments of the dynamic support apparatus,each mode may be associated with a predefined relief pattern or regimenthe dynamic support apparatus may employ. The user may interact with oneof the buttons (e.g. with a touch gesture) to indicate that they wouldlike a device to behave as defined by the desired mode.

As mentioned above, the modes available may be defined for a variety ofdifferent user activities or activity levels. In some embodiments, theremay be modes for one or more of, but not limited to, the following:stationary or no activity, low activity, medium activity, high activity,maintenance mode, transfer mode, dynamic loading mode, etc. Each modemay be individually refined to meet the specific needs of a user. Theuser may select a mode which best fits anticipated or current activity.

In some embodiments, such a screen may not be used for selecting adevice behavior but rather editing and creating relief regimens orbehavior modes for the device. In some embodiments, selection of one ofthe selectable modes, may open the mode for review. In this mode, theuser may be able to see the values for the various parameters thatdefine the behavior mode. In some embodiments, the user may also be ableto edit parameters of a mode once the mode is open for review.

In various embodiments, a dynamic support apparatus may include theability to pre-program user profiles, relief regimens, schedules, etc.In some embodiments, this may be accomplished via a remote interface1400 or other interface. In such embodiments, a user may program one ormore specific mode or relief regimen to automatically begin based upon adefined schedule. It may, for instance, be desirable to program astationary or low activity mode to automatically be employed during auser's normal work hours.

During use, in some embodiments, a remote interface 1300, 1400 maycommunicate with a dynamic support apparatus using a wirelesscommunication channel. Such a channel may be established between remoteinterface 1300, 1400 and dynamic support apparatus by a user in someembodiments. The user may use the remote interface 1300, 1400 toprogram/configure a dynamic support apparatus. In some embodiments, someor all of the communication between remote interface 1300, 1400 anddynamic support apparatus may be encrypted.

In various embodiments of the user interface, the user interface mayrequire user confirmation and/or user input for some or all commands,programming and configuration changes, etc. given and made using theuser interface. In some embodiments, the user interface may emphasizeensuring a user knows the effect of various interactions with thedynamic support apparatus. In such embodiments, the device maycommunicate the result of the user's actions to the user. Such featureshelp to ensure the user understands their actions. One such example maybe in the event that a user presses a back button on a screen whenchanges have been made but not saved or implemented. The user interfacemay display a confirmation screen which reads “Cancel Changes?”. If theuser selects “Yes”, in various embodiments any pending changes may bediscarded, the confirmation screen may be dismissed and the userinterface may display the previous screen. When the user selection is“No”, on the confirmation screen, the confirmation screen may bedismissed and the user interface may again display the screen withpending change(s). In some embodiments, the pending change(s) may, forexample, be highlighted to draw the user's attention. This feature mayhelp mitigate the chance that a user assumes changes have beenimplemented, when in fact, they have not. This is just one of manyexamples of the user interface requiring user confirmation and/or input.Similar user confirmation or additional user input may be required on anumber of other screens or for a number of other user interactions.

Additionally and referring also to FIG. 64, in some embodiments of adevice such as a dynamic support apparatus 1500 may be configured by aremote interface 1502. In some embodiments, the device 1500 and remoteinterface 1502 may include communication circuitry (not shown) thatallows for communication (e.g., wired or wireless) between the device1500 and at least one remote interface 1502. Thus, the remote interface1502 may remotely communicate with the device 1500. The remote interface1502 may be capable of communicating with the device 1500 and mayinclude, in some embodiments, a display assembly 1504 and at least oneinput assembly 1506. The input assembly 1506 may include at least oneswitch assembly in some embodiments. In some embodiments, the inputassembly 1506 may be any of one or more of the input assembliesdescribed above.

The remote interface 1502 may include the ability to command the deviceand/or to receive information from the device. In some embodiments, theremote interface 1502 may include the ability to view history, receiveand view alarms, control a device 1500, program configurations (e.g.configure relief regimens), establish user preferences, and/or enableand disable various functionalities for a specific user. In someembodiments, the remote interface 1502 may allow the user to view thestatus of a device 1500 which may include the power status, alarmstatus, device 1500 status, and/or any other data that may becommunicated from the device 1500 to the remote interface 1502.

In some embodiments, the remote interface 1502 may provide instructionsto the device 1500 by way of a communication channel 1508 establishedbetween the remote interface 1502 and the device 1500. In someembodiments, the communications channel 1508 is depicted as a wirelesscommunications channel. In other embodiments, the communications channel1508 may be a wired communications channel. Via the communicationschannel 1508, a user may use the remote interface 1502 toprogram/configure the device 1500. Some or all of the communicationbetween remote interface 1502 and the device may be encrypted. Anysuitable encryption scheme may be used. Additionally, any suitablecommunications protocol may be used. Communication between the remoteinterface 1502 and the device 1500 may be accomplished utilizing astandardized communication protocol. Further, in some embodiments,communication between the various components included in a device 1500may be accomplished using the same protocol.

In some specific embodiments, the remote interface 1502 and the device1500 may communicate via RF and may utilize an ISM band such as the 2.4Ghz band. Any suitable RF communications protocol may be used. Invarious embodiments, Bluetooth, Zigbee, MiWi, or another suitable RFcommunications protocol may be used. In some embodiments, each of theremote interface 1502 and the device 1500 may include a processordedicated to radio communication. Additionally, each of the remoteinterface 1502 and the device may include one or more additionalprocessor which may perform other processing tasks.

FIG. 65 depicts a screen 1550 which may be displayed on a remoteinterface. As shown, the screen 1550 may be used by a user to select arelief regimen to be used by a dynamic support apparatus. In variousembodiments, such a screen 1550 may be displayed in response to a userselecting or launching a device controller application or selecting amode such as any of those shown in FIG. 63. Alternatively, such a screen1550 may be used for editing a relief regimen and may be launched inresponse to a user selecting a device configuration application orselecting a mode such as any of those shown in FIG. 63.

The screen 1550 may include a heading 1552 which is indicative of thescreen's purpose and may indicate what the screen 1550 may be used for.In some embodiments, the heading 1552 reads “Manage Relief Regimens”.Additionally, the screen 1550 may include a sub heading 1554 which mayprovide some instruction to the user on how to interact with the screen1550. In some embodiments, the sub heading 1554 reads “Select a ReliefRegimen”. Headings 1552 and sub headings 1554 may be used on variousscreens of the user interface to make various screens and their usageunambiguous and self explanatory.

A number of boxes 1556 appear on the screen. In FIG. 65, each box 1556is associated with a relief regimen. In various embodiments, boxes 1556may not be used. Instead, any other shape or suitable arrangement may beused. The same is true of other embodiments described as having boxes.

As shown in FIG. 65, there are three boxes 1556 labeled regimen, A-C. Auser may select the desired relief regimen by an interaction with theuser interface. In some embodiments, this interaction may be one or moretouch gesture. Once a regimen has been selected, an indicator 1558 maybe displayed in association with it. The indicator 1558 may serve tovisually convey to the user which of the displayed relief regimens iscurrently being employed or executed. In some embodiments, as shown, theindicator 1558 in the screen is a checkmark next to the text “CurrentRegimen”. In other embodiments, the active regimen may be displayed in adifferent color, may be shown in an enlarged box, may be shown in adifferent or larger font, etc. Additionally, in some embodiments,additional descriptive information may be included and associated witheach regimen. Such information may describe the relief regimen or mayindicate what type of user activity the regimen would be appropriatefor. In alternate embodiments, selecting a relief regimen may open therelief regimen for review and/or editing.

Also shown in the screen in FIG. 65 is a box 1556 which may allow a userto create a new relief regimen. The text in this box 1556 reads “Createnew regimen”. This box 1556 may be selected by a user interaction withthe user interface. In some embodiments, this option or box 1556 mayonly be included for certain users. For example, such an option may onlybe available for clinicians. By selecting this option, a user may beable to create a new relief regimen that may be employed by a dynamicsupport apparatus. A back button 1560 is also included in the screen1550. This back button 1560 may be used to return to a previous screen.

FIG. 66 depicts a screen 1570 which may be displayed on a remoteinterface. As shown, the screen 1570 may be used by a user to create arelief regimen which may be used by a dynamic support apparatus. Invarious embodiments, such a screen 1570 may be displayed in response toa user selecting the “Create new regimen” option on the screen 1550shown in FIG. 65.

As shown, the screen 1570 in FIG. 66 includes a heading and sub heading.The heading 1552 and sub heading 1554 respectively may describe what thescreen 1570 may be used for and what the user is required to do on thescreen 1570. Additionally, as in FIG. 65, a back button 1560 isincluded.

As shown, a number of boxes 1571, 1572, 1573 appear on the screen 1570.One box 1571 identifies the step number. The step number may indicatewhich step of a relief cycle the user is editing. As described elsewhereherein, a relief regimen may consist of a number of different stepswhich may repeat on a cyclical basis. At each step, a dynamic supportapparatus may inflate actuators to different pressures. Additionally,within each step, various actuators included in a dynamic supportapparatus may be inflated to different pressures. As shown, the box 1571identifying the step number includes a parameter field 1574. Theparameter field 1574 in some embodiments may be used to define aduration for the step.

To define the set point for the various actuators of the dynamic supportapparatus for a desired step, a user may interact with set point boxes1572 for each of the actuators in the dynamic support apparatus. Foreach step, the user interface may display corresponding boxes 1572 foreach actuator included in a dynamic support apparatus. In someembodiments, the dynamic support apparatus only includes two actuators.In alternate embodiments, a dynamic support apparatus may include anynumber of actuators.

As shown, the user may enter a value in the parameter field 1576, 1578associated with each of “Actuator 1” and “Actuator 2”. This value may belimited to a predefined unit of measurement, which in some embodimentsis mmHg. In some embodiments, the user may be able to select between anumber of units of measurement (e.g. psig, mmHg, etc.). It should benoted that the actuator names in the screen 1570 represent oneembodiment. In various embodiments, the names may be indicative of thespatial orientation actuators in the dynamic support apparatus and oneor more may vary. In some embodiments, the actuator set point boxes1576, 1578 may identify a “Right Actuator”, “Left Actuator”, and “SacralActuator”.

To help minimize confusion, the actuator set point boxes 1572 areconnected to the step number box 1571. Other steps or boxes may beseparated from boxes associated with an individual step by a space orgap. Additionally, the set point boxes 1572 are indented from the stepnumber box 1571. This may help to further indicate that the set pointboxes 1572 are associated with the step number box 1571. In someembodiments, a user may collapse and expand various steps. In someembodiments, when a step is in a collapsed state, only the step numberbox 1571 for that step may be visible. In expanded state, the set pointboxes 1572 may also be displayed. In such embodiments, the step numberbox 1571 may include an icon or the like (not shown) which a user mayinteract with to toggle between an expanded and collapsed state. Such afeature may be useful in minimizing clutter and optimizing usage ofscreen real estate.

Also depicted in the screen shown in FIG. 66 is an “Add New Step” box1573. As shown, this box 1573 is separated from the boxes 1571, 1572associated with step 1 by a gap. This may aid in minimizing any possibleconfusion. This box 1573 may be used to add a step to a relief regimen.When a user interacts with this box 1573, a new set of boxes may appearon the screen. These boxes may include a step number box for the newstep and associated actuator set point boxes for the new step. These newboxes may appear beneath the last existing step in a relief regimen. Inthe event that all steps do not fit on the screen at one time, a usermay navigate through the list of steps using a scroll bar, searchfeature, swipe gesture, etc. A user may add and define the requiredinformation for as many steps as is necessary to completely define thedesired relief regimen.

In some embodiments, a user may be capable of copying a pre-existingrelief regimen when creating a new relief regimen. This may be desirableif the new relief regimen will be similar to a pre-existing reliefregimen. In some embodiments, it may be desirable to have a regimen withthe same number of steps and actuator set points, but differentdurations for each step. Thus, copying a pre-existing relief pattern mayallow a user to more efficiently create relief regimens. In someembodiments, a copy button or the like may be present for this purpose.In some embodiments, a screen which may be used to create a reliefregimen may include a button to save the relief regimen once the reliefregimen has been fully defined by the user. Additionally, in someembodiments, a user may create a new relief regimen by opening apre-existing template relief regimen.

FIG. 67 depicts another screen 1580 which may be displayed on a userinterface for a dynamic support apparatus. The screen 1580 may be analternative screen which may be used to configure a relief regimen. Invarious embodiments, such a screen 1580 may be displayed in response toa user selecting the “Create new regimen” option on the screen 1550shown in FIG. 65.

As shown, the screen 1580 includes a heading 1552 and sub heading 1554which indicate what the screen 1580 is used for. As shown, the screen1580 includes a number of boxes 1581, 1582, 1583. A step number box 1581is included in some embodiments. Additionally, an actuator number box1582 and a pressure box 1583 are included in the screen 1580. A user mayuse these boxes 1581, 1582, 1583 to define various set points forvarious actuators for each step in a relief regimen.

Some of the boxes 1581, 1582, 1583 may include an up and down arrow orselector in some embodiments. In the embodiment shown in FIG. 67, thepressure box 1583 includes an up and down arrow. The up and down arrowsmay be used to define the pressure parameter for an actuator. In someembodiments, once a pressure has been set, a user may interact with anext button 1584. This may cause the user interface to present a newrelief regimen configuration screen for the step which may be used toset the pressure set point for the next actuator. If pressure set pointsfor all actuators have been defined for a given step, interaction with anext button 1584 may cause a new step to be added. A new configurationscreen allowing a user to configure an actuator set point for that stepmay then be displayed. The user may continue defining set points foractuators until a desired relief regimen has been completely defined.

In some embodiments, the next button may be disabled or not displayeduntil all required fields have been defined. Alternatively, if a userattempts to use the next button without defining all required fields,the user interface may draw the user's attention to an incomplete field.In some embodiments, this may involve highlighting or otherwiseindicating which fields are incomplete. In other embodiments, the userinterface may automatically open the incomplete field for editing.

As shown, a cancel button 1585 is shown in the screen in FIG. 67. Thecancel button 1585 may be used to cancel configuration of a new reliefregimen. The cancel button 1585 may, in some embodiments, bring a userback to a home screen or other preceding screen. Additionally, a viewregimen button 1586 is shown in FIG. 67. This button 1586 may be used toview a visual representation of the relief regimen. Such a visualrepresentation may be a relief regimen graph such as an actuatorpressure over time plot. Such a relief regimen graph is furtherdescribed later in the specification. A back button 1587 is also shownin the screen 1580. A back button 1587 may be used to re-open apreviously defined step of a relief regimen for editing. In someembodiments, additional or different buttons may be included. In someembodiments, a “Done” or “Finish” button may be included to indicatethat a user has finished defining the desired number of steps for arelief regimen.

FIG. 68 depicts a screen 1590 which may be used to input a parametervalue. As shown, the screen 1590 includes a numeric keypad 1592. Thekeypad 1592 may be used to select values for the parameter. As shown,the keypad 1592 also includes a clear button 1594 and a delete button1596. The clear button 1594 may be used to clear any value entered onthe screen 1590. The delete button 1596 may be used to delete theprevious value entered on such a screen. There may also be a parametervalue field 1598 which displays the value entered using the keypad 1592.In some embodiments, this field 1598 is directly above the keypad 1592.Additionally, this field 1598 may include an indication of the units ofmeasure for that value. Once a user has finished entering the desiredvalue, the user may use the OK button 1600 to accept the value andcontinue editing and creating a relief regimen in some embodiments. Ifthe user desires to abort entering the value, the back button 1602 maybe used. In some embodiments, or for some parameter fields (e.g. reliefregimen name), an alpha-numeric or alphabetic keyboard may also orinstead be displayed. In some embodiments, a user may use one or moreother type of input device to enter values. In some embodiments, akeyboard and mouse, for example, may be used.

FIG. 69 depicts another user interface screen 1610 which may be used toedit and/or define a relief pattern. As shown, the screen 1610 mayinclude an indication of the current step number. In FIG. 69, the stepnumber shown is step one. The screen 1610 also indicates which actuatorthe user is editing the set point of. In the screen 1610, the user isediting the set point for actuator 1. As shown, the screen includes acolumn 1612 in which the user may define the desired actuator set pointparameter. The user may define a value for the set point by a verticalor up/down swipe within the bounds of this column 1612.

A downward swipe may cause the value to increase while an upward swipemay cause the value to decrease. In some embodiments, a downward swipemay cause a number to gradually move toward and then off the bottom ofthe screen (such that it is no long visible) and cause a number togradually appear from the top of the screen and gradually move towardthe bottom of the screen. An upward swipe may cause a number togradually move toward and then off the top of the screen (such that itis no long visible) and cause a number to gradually appear from thebottom of the screen and gradually move toward the top of the screen.This gradual movement may be incremental or smooth in variousembodiments. When a user removes their hand from the screen after makinga swiping gesture, the value closest to the center of the screen maybecome the new value for the parameter.

In the some embodiments, the bounds of the parameter column 1612 areshown on the screen 1610. In other embodiments, the bounds of the column1612 may not be displayed on the screen 1610. The screen also includesan indication of the unit of measure for the parameter being defined.

Once a user has finished defining an actuator set point the user maycontinue to define other actuator set points and create other steps. Inthe example embodiment, this may be accomplished with a horizontal orsideways swipe on the screen. As shown, in some embodiments, therepresentational hand 1614 is indicated to be swiping to the left of thescreen. Such a swipe may cause a new screen to gradually appear from theright of the display, in some embodiments. This may give the impressionto the user that the user is dragging or pulling the new screen onto thedisplay. Once the screen has been dragged a predetermined amount ontothe display, the values for the previous screen may be saved and the newscreen may take the place of the previous screen on the display. In someembodiments, the representative hand 1614 may be provided on the screento indicate to a user how they may interact with the screen 1610.

FIG. 70 depicts another user interface screen 1620 which may be used toedit and/or define a relief pattern. This screen 1620 may be the screenwhich would be dragged onto the display after a user has finisheddefining the actuator set point in FIG. 69. As shown, this screen 1620is similar to FIG. 69; however, it allows a user to set the actuator setpoint for actuator 2 in step 1. In some embodiments, a user may set theset points for all actuators in a given step on a single screen beforeswiping to the next screen. Once all actuator set points for a givenstep have been defined, swiping to the left of the display may cause anew step to be added to the relief regimen. The screen which is draggedonto the display may then allow a user to define various set points forthe new step.

As shown in FIG. 70, the user may swipe to the left of the screen 1620as well as the right of the screen 1620. Swiping to the right of thescreen 1620 may cause the previous screen to gradually appear from theleft of the display in some embodiments. This may give the impression tothe user that the user is dragging the previous screen back onto thedisplay. Once the previous screen has been dragged onto the screen apredetermined amount it may replace the current screen on the display.This may allow a user to navigate through various steps and set pointswhen creating a relief regimen.

In some embodiments, if a user attempts to swipe to the next screenwithout filling out a required field (e.g. actuator set point), the userinterface may not allow the new screen to replace the current screen onthe display. Additionally, the user's attention may be called to therequired field which has not been filled out on the current screen. Insome embodiments, there may be a button or the like on the display toindicate that the user is finished creating or editing the desiredrelief regimen. Alternatively or additionally, a user may define thenumber of steps they would like to include in the relief regimen beforecreating the relief regimen. Once a user has swiped through and definedvalues for each step, the relief regimen may be saved and the reliefregimen editor may be exited on the user interface. In some embodiments,a home screen or the like may be displayed after a user has completedthe editing a relief regimen.

FIG. 71 depicts another screen 1630 which may be displayed on a userinterface for a dynamic support apparatus. The screen 1630 may be usedto configure a relief regimen. As shown, the screen 1630 may be used totemporally structure a relief regimen. In some embodiment the user mayuse such a screen 1630 to define the number of relief cycles per hour.In some embodiments, a user may use such a screen 1630 to define a waitperiod between cycles. In some embodiments, a user may use such a screen1630 to define a wait period between steps of a cycle. Additionally, insome embodiments, a user may use such a screen 1630 to define whetherthe relief regimen will actively (e.g. use a pump to pump fluid out ofthe actuators) or passively deflate actuators.

As shown, in some embodiments when user selects a parameter field forediting, it may enlarge on the screen. In some embodiments, a reliefcycles per hour field 1632 has been opened for editing. The reliefcycles per hour parameter field 1632 has enlarged and the font size forthe parameter value has also increased. Additionally, an up and downbutton 1634, 1636 to increase and decrease the parameter value appearsin the enlarged parameter field.

FIG. 72 depicts another screen 1640 which may be displayed on a userinterface for a dynamic support apparatus. The screen 1640 may be usedto configure a relief regimen. Specifically, the screen 1640 may be usedto schedule a regimen. Such scheduling may cause a regimen toautomatically begin as defined. In other embodiments, such schedulingmay cause the user interface to prompt or remind a user to begin therelief regimen.

As shown, the screen 1640 includes an enable option 1642 which may beselected if a user would like to schedule the regimen. In someembodiments, the enable option 1642 includes “Yes” and “No” checkboxes.In other embodiments, radio buttons or the like may be used. In someembodiments, the screen 1640 also includes selectors 1644 for days ofthe week which in some embodiments are checkboxes. A user may select thedesired days of the week to which they would like the schedule to beapplied to. Additionally, the screen 1640 includes fields 1646, 1647,1648, 1649 in which the user may define a time frame. A user may enter abegin time and an end time for which they would like to schedule therelief regimen. In some embodiments, a user may schedule a regimen tooccur while they are at work using the Monday-Friday selectors 1644 andentering the time frame as 9:00 AM to 5:00 PM.

In some embodiments, while a user is editing and/or creating a reliefregimen, it may be desirable to see a visual representation of theregimen. Such a visual representation may depict the defined reliefregimen in a single, easily comprehendible format. In variousembodiments, a visual representation may be provided in the form of agraph, specifically an actuator pressure over time graph. An embodimentof such a graph 1650 is depicted in FIG. 73. A user may use a viewregimen button, such as that shown in FIG. 67, to view such a graph 1650in some embodiments.

As shown, the graph 1650 in FIG. 73 depicts a plot 1652, 1654 for eachactuator of a dynamic support apparatus. For purposes of illustration,the pressure axis of the graph 1650 is not assigned numeric valuesrather only an indication of positive and negative. The time axis isalso not assigned numeric values. In various embodiments, the time axismay not be assigned time values but rather be divided by step number asshown. A back button 1656 is also included on the graph 1650. A backbutton 1656 may be used to return to a previous screen once the user isdone viewing the graph 1650.

FIG. 74 depicts a screen 1660 which may be displayed on a user interfacefor a dynamic support apparatus. The screen 1660 includes a menu 1662which may be used to navigate to various configuration setting of adynamic support apparatus. As shown, a number of settings categories1664 are displayed in boxes on the screen 1660. In other embodiments,different settings or a different number of settings may be included. Auser may select one of the settings categories 1664 on the screen 1660to open it for configuration. The screen 1660 also includes an option1666 to return to a home screen.

FIG. 75 depicts another screen 1670 which may be displayed on a userinterface of a dynamic support apparatus. The screen 1670 shown in FIG.75 may be one of many screens which may be navigated to by selecting asetting category 1664 in FIG. 74. As shown, the screen 1670 provides aninterface which allows a user to adjust screen brightness. As shown, aslider bar 1672 is depicted and may be used by a user to adjust thescreen brightness. Slider bars may also be used to allow users to adjustother settings or define parameters in some embodiments. A settingslevel descriptor 1674 is also shown on the screen 1670. In someembodiments, the settings level descriptor 1674 reads “Low”. Otherpossible values may be “Min.”, “Mid”, “High”, “Max”, etc. In variousembodiments the settings level descriptor 1674 may be a numeric value.As the slider 1676 of the slider bar 1672 is slid by the user, thesettings level descriptor 1674 may change automatically to reflect theslider 1676 position.

FIG. 76 depicts another screen 1680 which may be displayed on a userinterface of a dynamic support apparatus. The screen 1680 shown is asettings screen. In some embodiments, this screen 1680 may be navigatedto by selecting the “Enable/Disable User Options” category 1664 in FIG.74. This screen 1680 may allow a clinician or care giver to configureoptions and functionalities that may be available for a user. In someembodiments, this screen 1680 may allow a care giver to disable atransfer mode for a user. As shown, eight options are depicted, thoughin other embodiments, any suitable number of options may be depicted.

As shown, in some embodiments, one or more option may include one ormore sub option. In some embodiments, one option may turn a lockfunctionality on or off. In the event that the lock option is turned on,the sub options may become enabled. The sub options may provide aselection of various varieties of the parent option (e.g. passcode,swipe, biometric, etc.). A user may then select the sub option which isdesired. In other embodiments, sub options may present various featuresof a parent functionality or options. A user may selectively enable anddisable such features as desired.

As shown, in some embodiments, one or more option(s) may include one ormore parameter field(s) which is/are associated with that option. Insome embodiments, if the parent option allows a user to enable ordisable a pause option or functionality, the associated parameter fieldmay require a user to enter a limit. The limit may in some embodimentsdefine the maximum pause length. As shown, option 8 is associated with aparameter field on the screen 1680. A back button 1682 and save button1684 are also included on the screen 1680 shown in FIG. 76.

FIG. 77 depicts an embodiment of a lock or passcode screen 1690. In someembodiments, the lock or passcode screen 1690 may be included to helpprevent unauthorized access to a user interface a dynamic supportapparatus. In some embodiments, a lock or passcode screen 1690 may beincluded when a user attempts to access various features on a userinterface for a dynamic support apparatus. In some embodiments, a caregiver or clinician may define a passcode for various editing features toprevent a user from editing a relief regimen.

As shown, the lock or passcode screen 1690 includes a numeric keypad1692. The lock or passcode screen 1690 also includes a number ofpasscode fields 1694 which may be populated as a user enters in apasscode. In some embodiments, the passcode fields 1694 may be populatedwith the values selected on the keypad 1692. In other embodiments, thepasscode fields 1694 may be populated with a generic symbol to indicatea value selection was registered by the user interface.

FIG. 78 depicts another screen 1700 which may be displayed on a userinterface of a dynamic support apparatus. As shown, the screen 1700 isoptimized for a personal computer or laptop. The screen 1700 in FIG. 78is a welcome screen. The welcome screen describes to the user how theuser may begin to use the program. It also may provide information onwhat the program may be used for.

As shown, the screen includes a window. The window includes a menu bar.The menu bar 1702 may include a number of clickable options. In someembodiments, the menu bar includes a “File” option, an “Edit” option, a“View” option, and a “Help” option.

The “File” option may present a list of choices when clicked. In someembodiments, the “File” option may allow a user to open a previouslycreated relief regimen. The “File” option may allow a user to save acreated relief regimen or configuration. The “File” option may allow auser to print a created relief regimen or configuration summary. The“File” option may allow a user to update controller software. The “File”option may also include other choices when clicked. The “Edit” optionmay also present a list of choices when clicked. In some embodiments,the “Edit” option may present choices to clear all parameters for acreated relief regimen or restore all defaults in a regimen. The “View”option may present a number of choices when clicked. In someembodiments, the “View” option may be used to select which of a varietyof program functionalities the user would like to use and may open auser interface screen for the desired functionality. The “Help” optionmay present a number of choices when clicked. In some embodiments, the“Help” option may be used to view a software manual, device manual,readme file, etc. The “Help” option may also provide information aboutthe software release.

The screen 1700 also may include a number of icons 1704 as it does insome embodiments as depicted in FIG. 78. These icons 1704 may, in someembodiments, be skeuomorphic. As shown, a “new configuration” icon isdepicted in the form of a blank sheet of paper. An “open previouslycreated configuration” icon is depicted in the form of an open folder. A“save” icon is depicted as a floppy disk. A “print” icon is depicted asa printer. Other icons 1704 may be included in other embodiments. Insome embodiments there may be icons 1704 for any of the menu optionsdescribed above.

In some embodiments, the screen 1700 includes a side bar 1706. The sidebar 1706 may be used to select which of a variety of programfunctionalities the user would like to use. The user interface screen1700 includes a Client Data functionality, a Channel Configurationfunctionality, a Relief Mode functionality, a Connect Devicefunctionality, and an Update Device functionality. Other embodiments mayinclude different functionalities or a differing number offunctionalities. These functionalities may be navigated as tabs.Clicking on one of the functionalities in the side bar 1706 may causethe user interface to display a screen associated with thatfunctionality. In some embodiments, the side bar 1706 may be present onall user interface screens and be used to navigate from a user interfacescreen to another user interface screen. In some embodiments, the sidebar 1706 may also be used to display status messages.

In some embodiments, before being allowed to configure a relief regimen,a user may be required to connect a device using the Connect Devicefunctionality. This may, in some embodiments, involve physicallyconnecting the controller of a dynamic support apparatus to the remoteinterface using a data bus cable such as a USB cable. The Connect Devicefunctionality may then cause the remote interface to establishcommunication with the controller of the dynamic support apparatus.

The screen 1700 also includes a screen-specific portion 1708. In theembodiment shown in FIG. 78, this is the portion of the screen 1700 inwhich the welcome message is depicted. In some embodiments, thescreen-specific portion 1708 of the user interface may change dependingon the functionality of the user interface being used. The otherportions of the window may remain substantially unchanged.

FIG. 79 depicts another screen 1710 which may be displayed on a userinterface for a dynamic support apparatus. As shown the screen 1710allows a user to enter various client data. As shown, the side bar 1706of the user interface visually indicates that the patient datafunctionality is in use. Within the screen-specific portion 1708 of thescreen 1710 are a number of user definable parameters. A client IDparameter 1712 is included. A user may define this parameter 1712 byentering an identifier for a dynamic support apparatus user. A clienttype parameter field 1714 is also depicted. This field 1714 may be usedto define what type of dynamic support apparatus is being used by theuser. In some embodiments, a user may select how many actuators areincluded in their dynamic support apparatus, what model dynamic supportapparatus the user is using, etc. In some embodiments, this parameterfield 1714 reads “With Sacral” indicating that the dynamic supportapparatus is a model which includes a sacral actuator. Such a model isshown in FIG. 2. A notes parameter field 1716 is also shown in someembodiment. This field 1716 may be used to type in any notes about thedynamic support apparatus user which may be desired. Additionally, a“Date Modified” field 1718 which may be automatically populated isincluded.

Any editable parameter fields shown may be editable in any number ofsuitable ways. In some embodiments, some fields may be free text fields.Other fields may be defined by picking a choice via a drop box orslider. Additionally, in some embodiments, a user may define parametersusing checkboxes, radio buttons, or any other suitable means.

FIG. 80 depicts another screen 1720 which may be displayed on a userinterface for a dynamic support apparatus. As shown, the screen 1720 isa channel configuration screen. The channel configuration screen may beused to define various set points for actuators included in a dynamicsupport apparatus. It may be used to associate various manifold ports orfluid channels with their respective actuators in a dynamic supportapparatus. There is also a hardware control interface which may allow auser to remotely control the dynamic support apparatus using theconfiguration screen.

As shown, the screen-specific portion 1708 of the channel configurationscreen may include a number of groups of parameter fields 1722 and userdefinable settings. Each of the groups 1722 may be modified by the userto configure how the dynamic support apparatus controls an actuator. Asshown in FIG. 80, each of the groups 1722 is named with a channel and/ormanifold port number. A user may click on a group 1722 in order toaccess the parameters within that group 1722 for editing. In someembodiments, when a user opens a group 1722 for editing, the group 1722may visually indicate that it has been opened for editing on the userinterface. In some embodiments, the “CH1” group 1722 has been opened forediting. The group 1722 visually indicates that it is open by appearingin a different color than other groups 1722 in the some embodiments.Additionally, hash marks appear on a pressure settings slider bar 1724.The pressure settings slider bar 1724 is further described later in thespecification. Additionally, any groups 1722 that are inactive (e.g. noactuator connected to that channel) may be grayed out or not included insome embodiments.

A name parameter field 1726 is included for each of the groups 1722.This field 1726 may, in some embodiments, be a free text field. Thisfield 1726 may be used to define a descriptor or name for the group.This descriptor or name may be chosen to provide, for example,information about which actuator of the dynamic support apparatus thechannel is connected to. In the some embodiments, the far left (CH1)group's 1722 name parameter field 1726 reads “LEFT”. In otherembodiments, this field 1726 may be defined using a dropbox or may notbe user definable. Instead, this field 1726 may be fixed and may be usedto provide a user with an indication of which actuator of a dynamicsupport apparatus to connect to each channel. Additionally, in someembodiment, the name parameter field 1726 may be automatically populatedif a user has defined a sufficient number of name parameter fields 1726in other groups 1722. In some embodiments, if there is only a left andright actuator, when a user designates one group 1722 as right, theother group's 1722 name parameter field 1726 may be automaticallypopulated as left.

An actuator type or location parameter field 1728 is also included inthe some embodiment. Such a field 1728 may be used to define whichactuator of a dynamic support apparatus the channel is connected to. Inthe embodiment shown in FIG. 80, this field 1728 may be defined using adrop down menu which may present a user with a number of predefinedchoices. As above, in some embodiments, this field 1728 may beautomatically populated after a user has defined a sufficient number ofactuator type of location parameter fields 1728 in other groups 1722. Insome embodiments, the choices which appear in the drop box may dependupon a previously defined parameter. In some embodiments, a client typeparameter field 1714 (see FIG. 79) may determine what choices may beavailable for the actuator type of location field 1728.

An order parameter field 1730 may also be included. The order parameterfield 1730 may be used to define the order in which that channel will beacted on when the regimen is executed by a dynamic support apparatus. Insome embodiments, this field 1730 may be selected using a drop box. Insome embodiments, this field 1730 may be a free text field.

In some embodiments, where an order parameter field 1730 is a free textfield, the user may be restricted to only numeric values. Additionally,in some embodiments, the user may be restricted to only a range ofnumeric values. In some embodiments, the user may not be able to order achannel to be the fifth channel acted on if only three channels arebeing used.

A number of user definable pressure settings 1732, 1734, 1736 are alsoshown on the user interface screen 1720. As described elsewhere herein,in some embodiments, other inflation settings or set points may be usedin some embodiments. In some embodiments, there may be a mole of airsetting or set point or actuator height setting or set point.

As shown, the pressure settings (or in other embodiments, otherinflation settings) may be selected using a slider. The slider in someembodiments is part of a pressure settings slider bar 1724. In otherembodiments, each setting may be associated with a user definableparameter field. In some embodiments, there is a maximum pressure limitparameter slider 1732, a minimum pressure limit parameter slider 1736,and an actuator pressure set point parameter slider 1734. These may bedragged by the user along the pressure settings slider bar 1724 tochoose the desired set point and limits for each actuator. As shown, thepressure settings slider bar 1724 may also display the current pressureof an actuator or actuator channel in some embodiments. This informationmay be gathered by sensor data and then processed for display on thescreen 1720. The maximum and minimum pressure parameter sliders 1732,1736 may be used to define the bounds within which a user may deviate(e.g. manually) from a nominal pressure set point while on a dynamicsupport apparatus. In some embodiments, this may be done by commandingpressure to increase or decrease using an on board interface such as theshown in FIG. 28. In a preferred embodiment, when a limit is defined,other parameters may be restricted from being defined such that theybreak the limit. In some embodiments, once a high limit has beendefined, a user may not define the actuator pressure set point or theminimum pressure set point above that limit.

Inflation information and settings may be displayed in any suitablenumber of forms in various embodiments. For instance, the fluid pressuremay be the basis for the settings on the display with appropriate setsof units (e.g. mmHg) being display with the fluid pressure information.Alternatively in some embodiments, the settings and/or information maybe displayed in a unitless form. In some embodiments settings may be aunitless percentage ranging from −100% to +100%. In such embodiments,the percentage could represent the limits of the controller or pump orother factor/clinician defined limitations. In some embodiments, adifferent variety of scale may be used. In some embodiments, a user maydefine settings using a scale of −10 to +10.

Other embodiments may include different parameters and/or a differentnumber of parameters. Some embodiments may include different sliders onthe pressure settings slider bar 1724. In other embodiments, thepressure settings slider bar 1724 may include sliders for differentsteps in a relief regimen. In some embodiments, in a relief regimen withfour steps, there may be four sliders on the pressure settings sliderbar 1724. Each of the sliders may be used to define a pressure set pointfor one of the steps. In some such embodiments, the sliders may also belabeled with the step number whose step point they may be used todefine.

A show/hide option toggle 1738 is also displayed on the user interfacescreen in FIG. 80. This option toggle 1738 may be used to hide or show asub set of parameters for each group 1722. As shown by the darkhighlight around the “Show” option, the show/hide option toggle 1738 hasbeen toggled to show. In some embodiments, all of the parameters areshown. When toggled to hide, various parameters may be hidden ordisappear from the user interface screen 1720. In some embodiments, theactuator name parameters 1726 and actuator type or location parameters1728 may be hidden.

In some embodiments, an option may be included to swap channels. Such anoption may be used to move programming for a channel to another channel(e.g. a channel which is inactive, spare, or not currently being used).In some embodiments, this may be useful in the event that there is anissue with a channel (e.g. there is a bad valve on a channel). A usermay use such a swap option to move the existing setting for a channel toanother desired channel. Alternatively, in some embodiments, a user maybe able to associate a parameter group 1722 with another channel bychanging the parameter group's 1722 association via a drop box or thelike.

Various embodiments of the hardware control interface 1740, as mentionedabove, may be used to remotely control the dynamic support apparatus. Invarious embodiments, the hardware control interface 1740 may be avirtual representation of the keypad of a dynamic support apparatuscontroller. The hardware control interface 1740 may beuseful/desirable/beneficial for many reasons, including but not limitedto, when determining the proper set points for a user of a dynamicsupport apparatus. The user may be positioned on the dynamic supportapparatus and the hardware control interface 1740 may be used to try outvarious set points for actuators of the dynamic support apparatus. Insome embodiments, a pressure mapping mat or the like may also be placedon the dynamic support apparatus. As various actuator set points aretested, data from the pressure mat may be generated. This data may thenbe reviewed. When suitable actuator set points are determined, the usermay then define parameters for each of the groups 1722 on the channelconfiguration screen. As shown the pressure settings slider bars 1724may also depict the current pressure of each actuator in a dynamicsupport apparatus. This may further aid in the development of a suitablepressure regimen.

In some embodiments, a channel configuration screen may include a visualrepresentation of the layout of a dynamic support apparatus. In someembodiments, there may be a representational diagram of the dynamicsupport apparatus indicating the spatial arrangement of actuators in thedynamic support apparatus. The actuators may be labeled with the channelname to which they are connected in some embodiments.

FIG. 81 depicts another screen 1750 which may be displayed on a userinterface for a dynamic support apparatus. The screen 1750 shown in FIG.81 is a relief mode screen. Such a screen 1750 may be used to temporallystructure a relief mode. In some embodiments, the relief mode screen maybe used to define when specific steps occur and for how long. As shown,the screen specific portion 1708 of the relief mode screen may be usedto define any of a number of parameters useful in temporally structuringa relief mode.

In some embodiments, a repeat interval parameter field 1752 is included.As shown, the repeat interval parameter field 1752 may be used to definethe length of a relief regimen cycle. That is, the repeat intervalparameter field 1752 may define the amount of time in which all steps ofa relief regimen cycle will occur once. The repeat interval parameterfield 1752 may also define how often a relief regimen cycle will berepeated. In some embodiments, the repeat interval parameter field 1752is a dropbox. In other embodiments, the repeat interval parameter field1752 may be defined differently. In some embodiment the repeat intervalparameter field 1752 may be defined using a free text field which isrestricted to numeric values. As a user defines a value in the repeatinterval parameter field 1752, the timelines 1760 may be automaticallyscaled to the appropriate value.

A group of definable parameters 1754 for each channel is also shown inthe user interface screen shown in FIG. 81. Each group of definableparameters 1754 may be used to specify when each step of a reliefregimen cycle for each actuator is to occur. Also as shown, variouschannels may be enabled and disabled on this screen. In someembodiments, the inactive channel, “Channel 4”, is shown as disabled. Insome embodiments, channels may be automatically activated depending onpreviously defined parameters or settings. In some embodiments, if theuser has defined which channels are active on a channel configurationscreen (see FIG. 80), these channels may automatically be enabled on arelief regimen screen. Likewise, if a channel has been set to inactive,it may be grayed out.

For sake of simplicity, only two steps are included for each actuator,an inflate (“INF”) step and a deflate (“DEF”). In other embodiments,there may be any number of steps. As shown, the user may utilize aslider 1756, 1758 on a timeline 1760 to define temporal parameters foreach step. In other embodiments, temporal parameters may be definedusing a parameter field and a timeline 1760 may not be included. Thetimeline 1760 may be appropriately divided and numbered based upon arepeat interval parameter 1752 defined by the user. As shown, a user maymove the sliders 1756, 1758 along the timeline 1760 to define when eachstep within the cycle will being and how long the step will last. Insome embodiments, for “Channel 2” a user has defined that the actuatorconnected to channel 2 be deflated at the beginning of each cycle.Additionally, the user has defined that after four minutes, the actuatorconnected to channel 2 will be re-inflated to its nominal pressure setpoint. The actuator will remain at that set point until the next cyclebegins.

In some embodiments, the time specified for each step may be used by thecontroller as the time at which the controller begins attempting toreach the set point for that step. In other embodiments, the timespecified for each step may be a target time at which the controlleraims to have the actuator connected to the channel at the specified setpoint. Additionally, in some embodiments, the timelines 1760 may providea visual indication of the time which will nominally be spent to inflateand deflate each channel. In some embodiments, there may be markings(e.g. a timeline 1760 may include cross-hatching or the like) includedon the timelines 1760 which indicates how long the inflation anddeflation will take.

In some embodiments, once set, a user may also move a group or block ofactions along a timeline 1760. In some embodiments, if a user were toset an inflate and deflate step to occur two minutes apart, a user maymove this group of steps along the timeline 1760. This may allow a userto more easily and efficiently structure a desired relief configurationor regimen. In some embodiments, a user may also be able to select aplurality of steps to create step groupings or blocks for suchmovements.

In some embodiments, a composite time line 1762 is also shown on theuser interface screen 1750 in FIG. 81. The composite time line 1762 maybe used to view a visual summary of the defined relief regimen. In someembodiments, the composite time line 1762 may indicate when the steps ofa relief regimen begin and end. In some embodiments, the composite timeline 1762 may be a graph similar to that depicted in FIG. 73. In variousembodiments, a user may be able to drag groups of steps along thecomposite timeline 1762 to define the relief regimen or configuration.

In some embodiments, a user may be able command a test of a programmedrelief regimen using the relief mode screen. In such embodiments, thecomposite time line 1762 may have an indicator 1764 which indicateswhere in the relief cycle the test has progressed to. In someembodiments, the indicator 1764 is at zero because a test has not beeninitiated.

Some embodiments, as shown in FIG. 81, may include a wait periodparameter field 1766. In various embodiments, the wait period parameterfield 1766 may be used to define a wait period between cycles or steps.In some embodiments the wait period parameter field 1766 is a free textfield. In other embodiments, the wait period parameter field may be adropbox or the like. Alternatively, the wait period parameter field 1766may be a delay between the initial inflation (upon start-up) and whenthe relief regimen or configuration begins.

FIG. 82 depicts another screen 1770 which may be displayed on a userinterface for a dynamic support apparatus. The screen 1770 shown in FIG.82 is a summary screen. The summary screen may display in a single placeall or a subset of the parameters and settings defined for a reliefregimen. In some embodiments, the settings and parameters are defined inone or more table(s) 1772 although any other suitable presentation formmay also be used. Additionally, client related information is shown as asummary heading 1774 on the screen 1770. Such a screen 1770 may, in someembodiments, be used to provide a print out or for review of clinicaldocumentation or a relief regimen/configuration.

The control of the actuators (e.g. inflation, deflation, and maintenanceof actuators at set points) may be accomplished in a number of ways. Insome embodiments, control of the actuators of a dynamic supportapparatus may be similar to one or more of the embodiments described inU.S. patent application Ser. No. 13/461,336, filed May 1, 2012, entitledDynamic Support Apparatus and System, now U.S. Pat. No. 8,845,754,issued Sep. 30, 2014 which is incorporated by reference herein in itsentirety.

FIG. 83A depicts a flowchart which details a number of example stepsthat may be used to deflate an actuator based on a pressure set point.In step 2000, a relief period may be entered. A relief period may beentered upon a processor of a dynamic support apparatus registering abutton press or other type of interaction with a user interface.Alternatively, a relief period may be entered based on a pre-programmedschedule or after a predetermined amount of time since a previoussupport or relief period has elapsed. A target pressure may be comparedto a current actuator pressure in step 2002. The current actuatorpressure may be supplied by one or more pressure sensor associated withthe actuator. The one or more pressure sensor may, for example, belocated in the actuator itself (e.g. in a sensor assembly attached tothe actuator via a stoma) or may read the pressure at a manifold portleading to the actuator. The target pressure may be a preset pressure.If 2004 the processor determines the current pressure is less than thetarget pressure, the processor may transition into a maintenance statein step 2006. In a maintenance state, the actuator pressure may bemonitored by a processor and periodically adjusted to keep it within arange of the target pressure.

If 2004 the current pressure is not less than the target pressure, theprocessor may command the pump to pump fluid out of the actuator in step2008. If 2010 a minimum on-time timer has not elapsed, fluid maycontinue to be pumped out of the actuator. If 2010 the minimum on-timetimer has elapsed and if 2012 the current pressure is not below thetarget pressure (and an additional margin) fluid may continue to bepumped out of the actuator. The additional margin may, for example be atleast 2 mmHg, e.g. between 2-4 mmHg, and may be subtracted from the setpoint value. In some embodiments, an additional margin may not beincluded.

If 2010 the minimum on-time timer has elapsed and if 2012 the currentpressure is below the target pressure (and the additional margin) themanifold port and actuator may, for example, be isolated from the restof the system and a wait period may occur in step 2014. The wait periodmay be a predetermined amount of time. For example, in an embodiment inwhich the pressure sensors are remote from the actuators (e.g. inmanifold ports leading to the actuators) the wait period may beapproximately a half second. In an embodiment where a pressure sensor isremote from the target actuator, the wait may be an equalization periodduring which air flows from the actuator to the location of the pressuresensor. This equalization may cause the actuator pressure to equalizesuch that the target pressure is substantially reached. The processormay compare the current pressure to the target pressure in step 2016.The method may then return to decision 2004.

Referring now to FIG. 83B, an example pressure over time plot 2280depicting pressure samples from a pressure sensor monitoring pressure ata manifold port leading to an actuator is shown. The example plot 2280is merely exemplary and not drawn to scale. The example plot 2280depicts pressure while the actuator is being deflated using stepssimilar to those in FIG. 83A. As shown, the plot 2280 starts with fluidbeing pumped out of the actuator 2008. Fluid is pumped until (at time2281) the pressure in the actuator is less than a target pressure 2288,plus an added margin 2282. A predetermined wait period 2284A elapses2014. During this wait period 2284A the pressure at the manifold portand actuator equalize. Since the equalized pressure is greater than thetarget pressure 2288, a processor commands a pump to again pump fluidout of the actuator (at time 2283). The processor may keep the pumprunning for a minimum on time 2286. After the minimum on time 2286elapses (at time 2285), another wait period 2284B passes. If, after thewait period 2284B elapses (at time 2287), the pressure is below thetarget pressure 2288 in FIG. 83B, the processor may deem to actuator tobe at the desired set point.

FIG. 84 depicts a flowchart which details a number of example steps thatmay be used to inflate an actuator based on a pressure set point. Duringinflation to a set point, a processor may command an actuator beinflated beyond its target pressure and then command fluid to be removeduntil the actuator is within a range of the target pressure. Theprocessor may also employ a deadband near and/or including the targetpressure. Pressure readings outside of this deadband may cause aprocessor to issue commands to either add or remove fluid from anactuator. In some embodiments, the target pressure may serve as thelower bound of the deadband. Due to characteristics of the correlationbetween actuator pressure and actuator height (i.e. distance from theload supporting surface of the actuator and an opposing side or face ofthe actuator in some embodiments) it may be advantageous to overinflatethe actuator and subsequently release fluid. This may help to ensurethat a user is being supported in a more optimal manner and may help tomore uniformly arrive within a tighter range of actuator heights for agiven inflation set point.

The processor may enter an inflation state or mode in step 2050. In thismode, the processor may command fluid to be pumped to an actuator tooverinflate the actuator past the target pressure (step 2052). Themethod may also include the processor checking the pressure of theactuator in step 2054. If 2056 the actuator pressure is not at or abovethe over-inflation target pressure, fluid may continue to be pumped tothe actuator. If 2056 the actuator pressure is at or above theover-inflation target pressure, the processor may then command theactuator to be deflated (step 2058). Deflation of the actuator may bedone passively (e.g. venting the actuator) or actively (e.g. by pumpingfluid out of the actuator). The method may include the processorchecking the pressure of the actuator in step 2060. If 2062 the actuatorpressure is too low, the method may return to step 2052. If 2062, theactuator pressure is too high, the method may return to step 2058 If2062 the actuator is within a range of the target pressure, theprocessor may transition to a maintenance state (step 2064) in which theactuator pressure is maintained by pumping fluid to the actuator asneeded. In some embodiments, the range may be defined by the deadbandmentioned above.

FIGS. 85A and 85B depicts a flowchart which details a number of examplesteps that may be used to inflate an actuator based on a pressure setpoint. In step 2020, a support period may be entered. A support periodmay be entered upon a processor of a dynamic support apparatusregistering a button press or other type of interaction with a userinterface. Alternatively, a support period may be entered based on apre-programmed schedule or after a predetermined amount of time since aprevious support or relief period has elapsed. A target pressure may becompared to a current actuator pressure in step 2022. The currentactuator pressure may be supplied by one or more pressure sensorassociated with the actuator. The one or more pressure sensor may, forexample, be located in the actuator itself (e.g. in a sensor assemblyattached to the actuator via a stoma) or may read the pressure at amanifold port leading to the actuator. The target pressure may be apreset pressure.

If 2024 the processor determines the current pressure is not greaterthan or equal to the target pressure (and an overshoot), the processormay command a pump to pump fluid to an actuator 2026. If 2028 a minimumon-time timer has not elapsed, fluid may continue to be pumped to theactuator. If 2028 the minimum on-time timer has elapsed and if 2030 thecurrent pressure is not above the target pressure plus the overshoot andan additional margin, fluid may continue to be pumped to the actuator.In some embodiments, the additional margin may, for example, be at least2 mmHg, e.g. between 2-4 mmHg, and may be added from the set pointvalue. In some embodiments, an additional margin may not be included.

If 2028 the minimum on-time timer has elapsed and if 2030 the currentpressure is above the target pressure (and the additional margin) themanifold port and the actuator may, for example, be isolated from therest of the system and a wait period may occur in step 2032. The waitmay be a predetermined amount of time. For example, in an embodiment inwhich the pressure sensors are remote from the actuators (e.g. inmanifold ports leading to the actuators) the wait period may beapproximately a half second. In an embodiment where a pressure sensor isremote from the target actuator, the wait may be an equalization periodduring which air flows from the actuator to the location of the pressuresensor. This equalization may cause the additional margin pressure toequalize out such that the target pressure is substantially reached. Theprocessor may compare the current pressure to the target pressure instep 2034. The method may then return to decision 2024.

If 2024 the current pressure (from step 2022 or 2034) is greater than orequal to the target pressure plus an overshoot pressure and theadditional margin, fluid may be pumped from or vented from an actuatorin step 2036. If 2038 a preset pump on-time period of time has notelapsed, fluid may continue to be removed from the actuator. If 2038 apreset period of time has elapsed and if 2040 the current pressure isnot less than or equal to the target pressure, plus a deadband range,less the additional margin, fluid may continue to be removed from theactuator.

If 2038 a preset period of time has elapsed and if 2040 the currentpressure is less than or equal to the target pressure, plus a deadbandrange, less the additional margin, the manifold port and actuator may,for example, be isolated from the rest of the system and a wait periodmay elapse in step 2042. The wait period may, for example be a halfsecond in some embodiments. The processor may compare the currentpressure to the target pressure in step 2044. If 2046 the currentpressure is not less than the target pressure plus the deadband range,the method may return to step 2036 and fluid may be removed (actively orpassively) from the actuator.

If 2046 the current pressure is less than the target pressure plus thedeadband range, and if 2048 the current pressure is also not less thanthe target pressure, the processor may enter a maintenance state in step2050 and the inflation tasked may be deemed done. If 2046 the currentpressure is less than the target pressure plus the deadband range, andif 2048 the current pressure is less than the target pressure, themethod may return to step 2026 and fluid may be pumped to the actuator.

Referring now to FIG. 85C, an example pressure over time plot 2290depicting pressure samples from a pressure sensor monitoring pressure ata manifold port leading to an actuator is shown. The example plot 2290is merely exemplary and not drawn to scale. The example plot 2290depicts pressure while the actuator is being inflated using stepssimilar to those in FIGS. 85A and 85B. Since the starting pressure isless than the target pressure 2298 plus the overshoot 2292, the plot2290 begins with fluid being pumped to the actuator 2026. Fluid ispumped until (at time 2289) the pressure in the actuator is greater thanor equal to a target pressure 2298 plus an overshoot 2292 and an addedmargin 2294. A predetermine wait period elapses 2032A. During this waitperiod 2032A the pressure at the manifold port and actuator equalize.Since the equalized pressure is not greater than the target pressure2298 plus the overshoot 2292, a processor (at time 2291) commands a pumpto again pump fluid to the actuator. The processor may keep the pumprunning for a minimum on time 2300A. In the example plot 2290, when thepump is turned on, the pressure spikes and follow by a shallower slopedchange in pressure over time. The spike indicates the small volume ofthe manifold quickly being brought to pressure. Once enough of apressure difference exists between the manifold and the actuator iscreated, fluid will being to flow from the actuator and the change inpressure may become slower. After the minimum on time 2286 elapses (attime 2293), a wait period 2032B again elapses. Since the pressure isabove the target pressure 2298 and overshoot 2292 after the second waitperiod 2032B and the processor (at time 2295) may deem theover-inflation target for the actuator to have been met.

With the over-inflation target met, the actuator may then be deflated2036 toward the target pressure 2298. The actuator may be passively oractively deflated. Once (at time 2297) the actuator pressure is lessthan or equal to the target pressure 2298 plus a deadband pressure range2296 less the additional margin 2294, a wait period 2042A may elapse.The manifold port and actuator may equalize in pressure over the waitperiod 2042A. Since (at time 2299) the pressure is greater than thetarget pressure 2298 plus the deadband pressure range 2296, theprocessor may again command fluid to be removed from the actuator for aminimum on time 2300B. Another wait period 2042B may elapse (at time2301). This may continue until (at time 2303) the actuator pressure isless than the target pressure 2298 plus the deadband pressure range2296, but greater than or equal to the target pressure 2298.

FIG. 86 depicts a flowchart detailing a number of example steps whichmay be used to detect an error or fault condition when pumping fluid toor from an actuator. A timeout timer may be used to determine if it istaking longer than expected to reach an actuator set point (e.g. apressure set point) when pumping fluid to or from an actuator. Thetimeout timer may be a preset period of time in some embodiments.Alternatively, the timeout timer may be calculated at the beginning of apumping operation. For example, the timeout timer duration may be basedon a formula and may depend on the number of actuators being inflated ordeflated. In some embodiments, the timeout timer may, for example, be aperiod of time equal to 120 seconds multiplied by the number ofactuators being inflated or deflated.

An actuator or a plurality of actuators may be placed in fluidcommunication which a pump in step 2070. A processor may commandactuation of a valve or number of valves in a manifold, for example, toplace an actuator or actuators into communication with a pump in step2070. A timeout timer may also be started once the actuator(s) have beenplaced into communication with the pump. In embodiments where thetimeout timer is not a fixed preset period, the duration of the timermay be calculated in step 2070 as well. Fluid may be pumped into or outof the actuator(s) to achieve a target pressure for each of theactuator(s) in step 2072. In some embodiments, this may be done asdescribed in relation to FIGS. 83-85B. If 2074 the target pressure isreached, the controller may enter a maintenance state (step 2076) inwhich a process may monitor pressure of the actuator and add or removefluid from the actuator as necessary to maintain the actuator at thetarget pressure. If 2074 the target pressure has not been reached and if2078 the timeout timer has not elapsed fluid may continue to be pumpedin and/or out of the actuator(s). If 2078 the timeout timer has elapsedthe processor may generated an error condition in step 2080.

FIG. 87 depicts a flowchart detailing a number of example steps whichmay be used to detect an error or fault condition when monitoring thepressure of an actuator. If an open channel exists (e.g. the fluid pathto or the actuator itself is compromised) the associated actuator'spressure will be near or at zero and will not change over time. Pressureand pressure change over time may be monitored to detect if an openchannel condition exists. At least two pressure data samples from apressure sensor associated with an actuator may be taken at differentpoints in time and compared. If pumping fluid to an actuator during thistime, the difference between the two readings may be expected to begreater than some threshold value. If the difference is smaller thethreshold, an error may be triggered.

An actuator or plurality of actuators may be placed in fluidcommunication with a pump and a processor may command the pump to beginpumping fluid to the actuator(s) in step 2090. A processor may commandactuation of one or more valve in a manifold to place the desiredactuator(s) in communication with the pump in step 2090. While fluid ispumped to or from the actuator(s), a first period of time may thenelapse in step 2092. The first period of time may be a predefined periodof time and may be between 0.5-2 seconds, in some embodimentsapproximately 1 second. A pressure data sample, P1, may be taken in step2094. While fluid is pumped to or from the actuator(s), a second periodof time may elapse in step 2096. The second period of time may be apredefined period of time. In some embodiments, the second period oftime may be calculated using a formula and not preset. For example, thesecond period of time may be calculated based on the number of actuatorsin communication with the pump. In some embodiments, the second waitperiod may be determined as 12 seconds multiplied by the number ofactuators in communication with the pump. The length of the secondperiod of time may depend on the type of pump being used. A secondpressure data sample, P2, may be taken in step 2098.

If 2100 the difference in pressure over the second period of time isgreater than a predetermined threshold the processor may continuecommanding the pump to add or remove fluid from the actuator(s) it is incommunication with (step 2102). The absolute value of the pressurechange may be required to be above a threshold of 5-10 mmHg, for example7 mmHg in some embodiments. If 2100 the absolute value of the pressurechange is not above the threshold and if 2104 the pressure is outside apredefined range or below a threshold, the processor may generate anerror in step 2106. In some embodiments, the threshold may be 10 mmHg-25mmHg above gauge pressure, for example, 15 mmHg above gauge in someembodiments. The value chosen for the threshold may depend on the typeof pump being used. If 2104 the pressure is above the predefined range,the open channel condition may be determined to not exist. The processormay continue commanding the pump to add or remove fluid from theactuator(s) it is in communication with (step 2102).

FIG. 88 depicts a flowchart detail a number of example steps which maybe used to detected an occlusion in a fluid line extending from amanifold port to an actuator of a dynamic support apparatus. If anocclusion exists leading from the manifold to an actuator, the pressurein the manifold will spike up or down as the pump respectively attemptsto pump fluid to or from the actuator. The pressure at the manifold maybe monitored for such spikes to detect a possible occlusion. In someembodiments, when the manifold pressure is checked, it may be comparedto an expected range. If the pressure is outside this range, a processormay generate an error to indicate the occlusion.

A processor may command the pump to pump fluid to or from an actuator instep 2110. If 2112 the pressure has not reached the desired actuatorpressure, the process may continue commanding the pump to pump fluid. If2112 the pressure has reached or exceeded the desired actuator pressure,the processor may halt pumping, wait a predetermined period, and checkpressure in step 2114. The wait period may be, for example, 0.5 secondsin some embodiments. If 2116 the pressure is within an expected range,the processor may allow continued operation in step 2118 and no errormay be generated. If 2116 the pressure is outside of the expected range,an occlusion may be determined to be present and an error may begenerated in step 2120. The expected range may vary depending on thetype of pump, manifold volume, fluid line conduit volume among otherconsiderations. In some embodiments, the excepted range may be fromabout −100 mmHg to +100 mmHg.

In alternative embodiments, all pressure readings may be compared to anexpected pressure range by a processor. In the event that any of thepressure readings or a number of pressure readings over a predeterminedtime frame are outside of the expected range pumping may be stopped anda pressure reading may be taken. This reading may be compared to theexpected range to determine if an occlusion exists. In otherembodiments, in the event that any of the pressure readings or a numberof pressure readings over a predetermined time frame are outside of theexpected range an occlusion error may be generated.

In embodiments where a pressure sensor is included in an actuator and apressure sensor is disposed so as to sense pressure at the associatedmanifold port, the readings from these sensors may be compared. If thepressure of the actuator sensor differs from that of the manifold portsensor by more than a predetermined amount, an occlusion or failure ofone or both sensors may be determined to exist and an error may begenerated. A number of pressure readings from the actuator and manifoldsensors may be required to differ by more than the predetermined amountwithin a preset time frame for an error to be generated by a processorin some embodiments.

Referring again to FIG. 25, an embodiment of a dynamic support system2200 is shown. In some embodiments, the dynamic support system 2200includes both hardware and control components for controlling thehardware. In some embodiments, the hardware may be a dynamic supportapparatus 10, which may include, but is not limited to, one or more ofthe following: at least one control interface 506, actuators 16,actuator channels 520 such as tubing and/or other elements to supportintegration of the dynamic support apparatus 10. The dynamic supportsystem 2200 therefore may include the control systems 2202 for executingcontrol logic and/or one or more methods for controlling the one or moreactuators 16 using, for example, actuator channels 520 such as tubing,and in some embodiments, other hardware elements such as a pump 500.

Referring now to FIG. 89, in various embodiments, the leak compensationmode or maintenance mode may include monitoring the pressure of eachactuator 16, over time at 2250. For example, in some embodiments thecontrol system 2202, may read the pressure of each actuator 16, atpre-determined intervals, e.g., every 0.1 seconds. At 2252, the controlsystem 2202 determines whether there has been a change in the pressureof one or more actuator 16. For example, in some embodiments, thecontrol system 2202 may compare the instantaneous pressure of eachactuator 16 to the desired set point pressure or pressure range for thatactuator 16 at pre-determined intervals (e.g. in one mere exemplaryembodiment, every 60 seconds). Where the sampled instantaneous pressureis lower than the desired set point pressure, at 2254, the controlsystem 2202, shown in FIG. 25, may command the pump 500, shown in FIG.25, to add or remove air to/from that channel in order to alter thepressure in the actuator 16, (see, e.g., FIG. 25) to the desired setpoint pressure or pressure range. Conversely, where the sampledinstantaneous pressure is in excess of the desired set point pressure,at 2254, the control system 2202, shown in FIG. 25, may open a valveassociated with an actuator 16, (see, e.g., FIG. 25) to vent the channelin order to relieve the pressure in the actuator 16, (see, e.g., FIG.25) to the desired set point pressure or pressure range. In someembodiments, a hysteresis or deadband may be added about the pressureset point to provide a range of acceptable pressures about the pressureset point where no pumping or venting action is required. Thishysteresis or deadband may advantageously reduce the amount of workrequired by the control system 2202, shown in FIG. 25.

While determining actuator pressures changes by comparing theinstantaneous pressure to the desired pressure set point or range may beadvantageous in some situations for detecting pressure changes at 2252,such as during low activity, in other situations, this control mayresult in unnecessary air pumping and/or venting. For instance, when thedynamic support apparatus 10 (see, e.g., FIG. 25), is carrying a load,the mechanical forces through the dynamic support apparatus 10 (see,e.g., FIG. 25) to the user will cause the pressure in each channel 520(see, e.g., FIG. 25) and actuator 16, (see, e.g., FIG. 25) to fluctuatewith respect to the set point pressure or range. For example, someactuator 16, (see, e.g., FIG. 25) will undergo compression and haveelevated pressures while other actuators will have lower pressures.Thus, if the control system 2202, shown in FIG. 25, controls pumpingand/or venting based on the instantaneous pressure in these actuator 16,(see, e.g., FIG. 25) the control system 2202, shown in FIG. 25, islikely to add and/or remove air from the actuator 16, (see, e.g., FIG.25), unnecessarily.

Therefore, in some embodiments, the control system 2202, shown in FIG.25, may maintain a constant amount (i.e. mass or moles) of fluid in eachactuator channel 520 (see, e.g., FIG. 25), thereby rarely venting andessentially only pumping to replace any lost pressure due to leaking.For example, the control system 2202, shown in FIG. 25, may use themonitored pressure over time in each actuator 16, (see, e.g., FIG. 25)or actuator channel 520 (see, e.g. FIG. 25) as a proxy measurement toestimate the amount of fluid in, or the height of each actuator 16,(see, e.g., FIG. 25). In using the monitored pressure to estimate theamount of fluid in or the height of each actuator 16, (see, e.g., FIG.25), the assumption is made that, on average, the loading on theactuator 16, (see, e.g., FIG. 25) is constant, which turns out totypically be true, as dynamic loading is generally transient andgenerally has zero net magnitude.

Therefore, to estimate the amount of fluid in or the height of eachactuator 16, (see, e.g., FIG. 25), the control system 2202, shown inFIG. 25, passes the monitored pressure signal through a low-pass filter2256 (FIG. 90) having a bandwidth sufficiently low to remove most of thepressure transients from the signal. For example, in some exemplaryembodiments, the low-pass filter 2256 (FIG. 90) may have a bandwidth ofless than or equal to 0.1 Hz. In other exemplary embodiments, thelow-pass filter 2256 may have other desired bandwidths. With thepressure transients largely removed from the pressure signal anyremaining variations in the filtered pressure signal should be theresult of leakage of the actuator channel 520 (see, e.g., FIG. 25) oractuator 16, (see, e.g., FIG. 25) Thus, the control system 2202, shownin FIG. 25, may monitor the low-pass filtered pressure signal at 2252and, periodically, supply or remove air to/from the actuator 16, (see,e.g., FIG. 25) at 2254 to account for leaks and the like.

In some embodiments, the control system 2202, shown in FIG. 25, may usepulse density modulation control to apply brief pulses of fluid to/fromeach actuator channel 520 (see, e.g., FIG. 25) to compensate forleakage. Each pulse of air is separated by an idle time between pulsesΔt in which fluid is not being pumped. As the leak rate from aparticular actuator channel 520 (see, e.g., FIG. 25) or actuator 16(see, e.g., FIG. 25) increases, the time between pulses Δt for thatchannel 520 (see, e.g., FIG. 25) is decreased by the control system2202, shown in FIG. 25. When the control system 2202, shown in FIG. 25,is in equilibrium, the averaged effect of the air pulses for aparticular actuator channel 520 (see, e.g., FIG. 25) or actuator 16(see, e.g., FIG. 25), in various embodiments, should substantially matchthe effect of air leakage from that actuator channel 520 (see, e.g.,FIG. 25) or actuator 16 (see, e.g., FIG. 25). The control system 2202,shown in FIG. 25, includes control logic for calculating the timebetween pulses Δt for each actuator channel 520 (see, e.g., FIG. 25) oractuator 16 (see, e.g., FIG. 25) based on the low-pass filtered pressuremeasured in that actuator channel 520 (see, e.g., FIG. 25) or actuator16 (see, e.g., FIG. 25). In some embodiments, the control logic fordetermining the time between pulses Δt may be a function of an errorparameter E, e.g. a measurement of how far from the desired pressure setpoint or range the actuator 16 (see, e.g., FIG. 25) pressure is. In someembodiments, the function may be exponential and may take the form:

Δt=∫(E)=Δt _(max)·exp(−α·E)

where α=(1/E_(max)) ln(Δt_(max)/Δt_(min));

Δt_(max) is a preset maxi_(mum) allowable time bet_(ween) pulses;

Δt_(min) is a preset minimum allowable time between pulses; and

E_(max) is a preset maximum allowable error.

In this embodiment, when the error parameter E becomes smaller (i.e.approaching zero), the time between pulses Δt should grow towards themaximum time Δt_(max). Conversely, when the error parameter E becomeslarger (i.e. approaching the maximum allowable error E_(max)) the timebetween pulses Δt should shrink towards the minimum time Δt_(min). Whena particular actuator channel 520 (see, e.g., FIG. 25) or actuator 16(see, e.g., FIG. 25) is being maintained with pulses separated byminimum time Δt_(min), the control effort is considered saturated.Although shown as an exponential function, it should be understood bythose skilled in the art that the relationship between the time betweenpulses Δt and the error parameter E could take many forms including alinear function, a quadratic function, a cubic function or any othersimilar polynomial function. For example, a linear relationship may berepresented by the equation:

Δt=∫(E)=Δt _(max)−(E/E _(max))·(Δt _(max) −Δt _(min))

Preferably, at the time that the control system 2202, shown in FIG. 25,applies one pulse of air, the control system 2202 shown in FIG. 25,calculates the time between pulses Δt to the next pulse and schedulesthe pulse to occur. Alternatively, at the beginning, during, or at theend of a pulse, a pulse timer may be started. The control system 2202may continuously calculate Δt at every time stamp or every time apredetermined number of time stamps have passed. If a Δt calculation isequal to or less than the elapsed time on the pulse timer, the controlsystem 2202 may trigger a pulse. In some embodiments, a number of Δtcalculations (e.g. a number of Consecutive calculations) may be requiredto be equal to or less than the elapsed time on the pulse timer in orderfor a pulse to be triggered. In embodiments where each actuator channel520 (see, e.g., FIG. 25) or actuators 16 (see, e.g., FIG. 25) operatesindependently, the calculation of Δt may also be performed independentlyfor each channel 520 (see, e.g., FIG. 25) or actuator 16 (see, e.g.,FIG. 25) such that the resulting air pulses occur asynchronously.

The error parameter E may advantageously be determined in a variety ofdifferent ways. Referring to FIG. 90, an embodiment, for determining theerror parameter E for a particular channel i at time interval n isshown. In this embodiment, the error parameter E_(n,i) equals anError_(n,i) calculated from the difference between the pressure setpoint P_(setpoint n,i) and the monitored pressure P_(n,i) after passingthrough the low-pass filter 2256. In this embodiment, when the monitoredpressure P_(n,I) passed through the low-pass filter 2256 is lower thanthe pressure setpoint P_(setpoint n,i), e.g. due to air leakage from thechannel i, the error parameter E_(n,i) is positive.

Referring to FIG. 91, in some embodiments, the error parameter E_(n,i)for a particular channel i at a given time interval n may be determinedby the control system 2202, shown in FIG. 25, using aproportional-integral-derivative (PID) control unit 2258 having aproportional portion 2260, an integral portion 2262 and a derivativeportion 2264. In other embodiments, a derivative portion 2264 may not beincluded and the control unit 2258 may be a proportional-integral (PI)control unit. In these embodiments, the control system 2202, shown inFIG. 25, first calculates Error_(n,i) from the difference between thepressure set point P_(setpoint n,i) and the monitored pressure P_(n,i)after passing through the low-pass filter 2256 in substantially the samemanner as that discussed in connection with FIG. 90. The control system2202, shown in FIG. 25, then processes the signal Error_(n,i) throughthe PID control unit 2258 and takes a weighted sum of the output signalsfrom the proportional portion 2260, the integral portion 2262 and thederivative portion 2264 to determine E_(n,i). In the proportionalportion 2260, Error_(n,i) is multiplied by a gain factor k3, which, insome embodiments, may simply equal 1, to provide a weighted outputsignal representative of an instantaneous or present error. In theintegral portion 2262, the control system 2202, shown in FIG. 25,calculates the integral of the signal Error_(n,i) over time to providean output signal representative of the accumulation of past error. Theintegral portion 2262 includes a gain factor k1 that is a leakage factorbetween 0 and 1 that is applied to the integrated Error_(n,i) with eachtime step n to prevent the integral output signal from growing withoutbound. The gain factor k1 may be dependent upon the rate or pressuresampling for the dynamic pressure data. For example, in one exemplaryembodiment, provided for mere illustrative purposes, the gain factor k1may be between 0.93 and 0.99 for a sampling rate of approximately 10 Hz.The output signal from the integral portion 2262 is multiplied by a gainfactor k2 to provide the weighted output signal representative of pasterror. In the derivative portion 2264, the control system 2202, shown inFIG. 89, calculates the derivative of the signal Error_(n,i) bysubtracting the Error_(n−1,i) from the previous time step to provide anoutput signal representative of the rate of change of error, which mayprovide the control system 2202, shown in FIG. 25, with faster responseto transients. The output signal from the derivative portion 2264 ismultiplied by a gain factor k4 to provide the weighted output signalrepresentative of the rate of change of error. The control system 2202,shown in FIG. 25, calculates the error parameter E_(n,i) by taking theweighted sum of the output signals from the proportional portion 2260,the integral portion 2262 and the derivative portion 264. The controlsystem 2202, shown in FIG. 25, may use this error parameter E_(n,i) forcalculating the time between pulses Δt for each actuator channel i asdiscussed above.

The control logic discussed above advantageously works in the regimewhere the error parameter E is between and zero (0) and the maximumallowable error E_(max). However, in some situation, the control system2202, shown in FIG. 25, may determine that the error parameter E isoutside of that regime. For example, the control system 2202, shown inFIG. 25, may determine that the error parameter E exceeds the maximumallowable error E_(max), which would result in the required time betweenpulses Δt to be shorter than the minimum time Δt_(min). Therefore, inthe situation where the error parameter E exceeds the maximum errorE_(max), the control system 2202, shown in FIG. 25, turns the pumpfull-on to restore the pressure to the desired set point pressure orrange. Alternatively or additionally, an error or warning may begenerated by the processor for display on a user interface.

In some embodiments, when the control system 2202, shown in FIG. 25,implements the control logic discussed above, it is possible that whenΔt comes due and a pulse of air should be supplied to a particularactuator 16 (see, e.g., FIG. 25) the instantaneous pressure within theactuator 16 (see, e.g., FIG. 25) may higher than what the pump 500 (see.e.g., FIG. 25) can reasonably supply due to transient external loading.Therefore, if the instantaneous pressure is well above the pressure setpoint or range, the control system 2202, shown in FIG. 25, may defer theair pulse briefly until the instantaneous pressure returns to areasonable level in which the pump 500 (see, e.g., FIG. 25), mayoperate.

In some embodiments, when the control system 2202, shown in FIG. 25,implements the control logic discussed above, the monitored pressureP_(n,i) after passing through the low-pass filter 2256 may be above thetarget pressure set point or range for a long period of time. This maycause the output signal from the integral portion 2262 of the PIDcontrol unit 2258 to become large and negative. To compensate for this,the control system 2202, shown in FIG. 25, may include a pre-definedlarge and negative threshold for the integral portion that, whensurpassed by the output signal, causes the control system 2202, shown inFIG. 25, to provide one or more brief pulses of venting, by opening oneor more valves to reduce the pressure in the actuator 16 (see, e.g.,FIG. 25) to a level below the target set point pressure or range, which,over time, brings the output signal from the integral portion 2262 backtoward zero.

If the E value is negative or less than an E_(min) value, in someembodiments, the control system 2202 may default to T_(max) as the timebetween pulses. Alternatively, the control system 2202 may suspendpulses until the E value is no longer negative or until the E value isgreater than E_(min). In still other embodiments, one or more pulse ofventing, e.g., by opening one or more valves connected to the actuator,may be commanded by the control system 2202. The control system 2202 maytake different actions in such scenarios depending on the set point ofthe actuator. For example, if the actuator pressure set point is anegative pressure set point, pulses may be suspended or the time betweenpulses may be set at T_(max). If the actuator set point is a positivepressure set point, pulses may be suspended or venting pulses may becommanded by the command system 2202. The density of such venting pulsesmay be determined using a control scheme similar to that describedabove.

It stands to reason that, when the pressure set point for a particularchannel is higher, the leakage rate of a channel 520 (see, e.g., FIG.25) or actuator 16 (see, e.g., FIG. 25) will be higher than for the samechannel 520 (see, e.g., FIG. 25) or actuator 16 (see, e.g., FIG. 25) ata lower pressure set point. Therefore, the leak compensation modedescribed above may advantageously compensate for higher leakage ratesby providing uniform pulses of air more frequently when the pressure setpoint for a channel is higher than when the pressure set point is lower.Additionally, in some embodiments, the control system 2202, shown inFIG. 25, may vary the pulse duration directly with the operatingpressure. Thus, when in a higher operating pressure regime, longerpulses may partially or completely compensate for the higher leakagerates. As should be understood by those skilled in the art, therelationship between set point pressure and pulse width may be linear,exponential, etc.

In some embodiments of the leak compensation mode, the control system2202, shown in FIG. 25, may advantageously utilize statistics to detecta leaky channel 520 (see, e.g., FIG. 25) or actuator 16 (see, e.g., FIG.25). For example, the control system 2202, shown in FIG. 25, may keeptrack of how many pulses performed for each channel 520 (see, e.g., FIG.25) or actuator 16 (see, e.g., FIG. 25) over a prolonged period of timeto determine an average pulse rate for each channel 520 (see, e.g., FIG.25) or actuator 16 (see, e.g., FIG. 25). The control system 2202, shownin FIG. 25, may then compare the pulse rates to one or more empiricallydetermined pulse rates calculated based on a nominal system. If thepulse rate for a channel 520 (see, e.g., FIG. 25) or actuator 16 (see,e.g., FIG. 25) is significantly above the pulse rate for the nominalsystem, the control system 2202, shown in FIG. 25, may identify thechannel 520 (see, e.g., FIG. 25) or actuator 16 (see, e.g., FIG. 25) asleaky. Additionally or in the alternative, the control system 2202,shown in FIG. 25, may compare the averaged pulse rate of one channel 520(see, e.g., FIG. 25) or actuator 16 (see, e.g., FIG. 25) to the pulserates of one or more other peer channels 520 (see, e.g., FIG. 25) oractuators 16 (see, e.g., FIG. 25) to determine whether or not a channel520 (see, e.g., FIG. 25) or actuator 16 (see, e.g., FIG. 25) is leakysince, a leaky channel 520 (see, e.g., FIG. 25) or actuator 16 (see,e.g., FIG. 25) will require a greater number of pulses compared to itspeers over a long period of time to maintain a set point pressure.

By implementing the control logic for the leak detection mode asdiscussed above, the control system 2202, shown in FIG. 25, is able toadvantageously monitor the pressure in actuators 16 (see, e.g., FIG. 25)and to maintain the baseline pressure or the current pressure set point.The leak compensation mode may, in some embodiments, be referred to as aclosed-loop system, where monitoring, inflating and deflating may beautomatic based on pre-set/pre-determined values, e.g. the baselinepressure, pressure set point or range and/or error threshold. However,in some embodiments, the closed-loop system may be elective by the userand, thus, the user may instead elect to manually inflate/deflate theactuators 16 (see, e.g., FIG. 25) based, e.g., on recommendations fromthe control system 2202, shown in FIG. 25, and/or based on userdesires/requirements.

Various alternatives and modifications can be devised by those skilledin the art without departing from the disclosure. Accordingly, thepresent disclosure is intended to embrace all such alternatives,modifications and variances. Additionally, while several embodiments ofthe present disclosure have been shown in the drawings and/or discussedherein, it is not intended that the disclosure be limited thereto, as itis intended that the disclosure be as broad in scope as the art willallow and that the specification be read likewise. Therefore, the abovedescription should not be construed as limiting, but merely asexemplifications of particular embodiments. And, those skilled in theart will envision other modifications within the scope and spirit of theclaims appended hereto. Other elements, steps, methods and techniquesthat are insubstantially different from those described above and/or inthe appended claims are also intended to be within the scope of thedisclosure.

The embodiments shown in drawings are presented only to demonstratecertain examples of the disclosure. And, the drawings described are onlyillustrative and are non-limiting. In the drawings, for illustrativepurposes, the size of some of the elements may be exaggerated and notdrawn to a particular scale. Additionally, elements shown within thedrawings that have the same numbers may be identical elements or may besimilar elements, depending on the context.

Where the term “comprising” is used in the present description andclaims, it does not exclude other elements or steps. Where an indefiniteor definite article is used when referring to a singular noun, e.g. “a”“an” or “the”, this includes a plural of that noun unless somethingotherwise is specifically stated. Hence, the term “comprising” shouldnot be interpreted as being restricted to the items listed thereafter;it does not exclude other elements or steps, and so the scope of theexpression “a device comprising items A and B” should not be limited todevices consisting only of components A and B.

Furthermore, the terms “first”, “second”, “third” and the like, whetherused in the description or in the claims, are provided fordistinguishing between similar elements and not necessarily fordescribing a sequential or chronological order. It is to be understoodthat the terms so used are interchangeable under appropriatecircumstances (unless clearly disclosed otherwise) and that theembodiments of the disclosure described herein are capable of operationin other sequences and/or arrangements than are described or illustratedherein.

A number of embodiments have been described. Nevertheless, it will beunderstood that various modifications may be made. Accordingly, otherembodiments are within the scope of the following claims.

While the principles of the disclosure have been described herein, it isto be understood by those skilled in the art that this description ismade only by way of example and not as a limitation as to the scope ofthe invention. Other embodiments are contemplated within the scope ofthe present disclosure in addition to the exemplary embodiments shownand described herein. Modifications and substitutions by one of ordinaryskill in the art are considered to be within the scope of the presentinvention.

What is claimed is:
 1. A dynamic support apparatus comprising: acushion; at least one actuator wherein the at least one actuator definesan interior volume and wherein the interior volume configured to be atleast partially filled with a fluid and the at least one actuatorattached to an actuator fluid conduit in communication with the interiorvolume; a fluid pump having a pump inlet and a pump outlet; a rotaryvalve including a stationary portion and a rotor, the rotor being aplanar body having transversely disposed flow paths recessed into eachof a first face and a second face of the rotor, wherein the first faceis opposingly situated with respect to the second face, the flow pathsterminating in valve fluid ports; and a processor for commanding a motorto rotate the rotor to at least a first position in which the pump inletis in fluid communication with the atmosphere through the valve and thepump outlet is in fluid communication with the actuator fluid conduitthrough the valve, a second position in which the pump inlet is incommunication with the actuator fluid conduit via the valve and the pumpoutlet is in communication with the atmosphere via the valve, and athird position in which the actuator fluid conduit is in communicationwith the atmosphere via the valve.
 2. The dynamic support apparatus ofclaim 1, wherein the first, second, and third positions are spaced equalangular intervals apart.
 3. The dynamic support apparatus of claim 1,wherein the motor drives the rotor in a single direction to align therotor in the first position, second position, and third position.
 4. Thedynamic support apparatus of claim 3, wherein the motor drives the rotorin a first direction to align the rotor first with the first position,the motor drives the rotor in the first direction to rotate the rotorfrom the first position to the second position, and the motor rotatesthe rotor in the first direction to rotate the rotor from the secondposition to the third position.
 5. The dynamic support apparatus ofclaim 1, wherein the motor may rotate the rotor clockwise to the firstposition, the second position, and the third position, and wherein themotor may rotate the rotor counterclockwise to the first position, thesecond position, and the third position.
 6. The dynamic supportapparatus of claim 1, wherein the rotary valve is a multi-stable valvewhich maintains its position when power to the rotary valve is lost. 7.The dynamic support apparatus of claim 1, wherein the motor is a steppermotor.
 8. The dynamic support apparatus of claim 1, wherein the rotaryvalve is part of a manifold.
 9. The dynamic support apparatus of claim1, wherein an outer edge of the rotor is teethed.
 10. The dynamicsupport apparatus of claim 1, wherein the processor is configured torotate the valve in equal angular increments.
 11. The dynamic supportapparatus of claim 1, wherein the rotor includes eight fluid ports. 12.The dynamic support apparatus of claim 1, wherein the rotor is heldbetween a first part of the stationary portion and a second part of thestationary portion.
 13. The dynamic support apparatus of claim 1,wherein at least one of the first and second face include a recessedportion which does not contact the stationary portion.
 14. The dynamicsupport apparatus of claim 1, wherein the stationary portion includes avalve interface.
 15. A multi-stable rotary valve, the rotary valvecomprising: a stationary portion including a pump inlet port, a pumpoutlet port, an atmosphere port, and an actuator port; a rotor having aplanar body with transversely disposed flow paths recessed into each ofq first face and a second face of the rotor, wherein the second face isopposingly situated with respect to the first face, the rotor capturedbetween a first part of the stationary portion and a second part of thestationary portion, the rotor having at least one recessed portion whichdoes not contact the stationary portion; and a motor arranged to impartrotary motion to the rotor to rotate the rotor to at least a firstposition in which the pump inlet port is in fluid communication with theatmosphere port through the valve and the pump outlet port is in fluidcommunication with the actuator port through the valve, a secondposition in which the pump inlet port is in communication with theactuator port via the valve and the pump outlet port is in communicationwith the atmosphere port via the valve, and a third position in whichthe actuator port is in communication with the atmosphere port via thevalve.
 16. The rotary valve of claim 15, wherein an outer edge of themotor is teethed.
 17. The rotary valve of claim 15, wherein the motor isa stepper motor.
 18. The rotary valve of claim 15, wherein a fastenerextend through the first part of the stationary portion and through therotor to the second part of the stationary portion such that the rotoris held between the first part and second part of the stationaryportion.
 19. The rotary valve of claim 15, wherein the rotor includesfour fluid pathways.
 20. The rotary valve of claim 15, wherein the firstface of the rotor includes a plurality of fluid pathways and the secondface of the rotor includes a single fluid pathway.
 21. The rotary valveof claim 15, wherein the first face of the rotor includes three fluidpathways and the second face of the rotor includes a single fluid pathway.
 22. The rotary valve of claim 15, wherein the motor is arranged toimpart rotary motion to the rotor in only a single rotational direction.23. The rotary valve of claim 15, wherein the rotary valve is apneumatic valve.
 24. The rotary valve of claim 15, wherein the rotorcomprising a plurality of flow paths on the first face and at least oneflow path on the second face extending in a direction perpendicular toat least one of the plurality of flow paths on the first face.
 25. Therotary valve of claim 15, wherein the rotor comprising: at least oneflow path on the first face; at least one flow path on the second face;and two pass throughs extending from the first face to the second facefor each of the at least one flow path on the second face, wherein thepass throughs being in fluid communication with an associated flow pathof the at least one flow path on the second face.